Robust adaptive safe effective dynamic coverage control of nonlinear systems and its application to differential robots

Abstract

This paper focuses on the problem of robust adaptive safe effective dynamic coverage control for a class of nonlinear systems with unknown parameters and disturbances, and this class of nonlinear systems can represent general robot systems. Novel definitions of effective dynamic coverage control function and robust adaptive control barrier function (RACBF) are proposed for two cases of fully connected networks and partial networks, respectively, where a logic switching mechanism is used to obtain estimation of disturbance. Meanwhile, a safe dynamic coverage framework for robots is proposed and a safe and effective dynamic coverage controller is obtained by solving quadratic programming (QP). This controller can effectively solve the problem of potential conflict between stability and safety objectives in coverage control. Finally, simulation results of the safe dynamic coverage control of a differential robot in 2D space are given to verify the effectiveness of the design method.