Distributed Leader-Following Formation Control of Networked Mobile Robots via Global Orientation Estimation

IF 6.7 2区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

IEEE Transactions on Network Science and Engineering Pub Date : 2025-02-27 DOI:10.1109/TNSE.2025.3545119

Siqi Wang;Heng Wang;Weiwei Che;Qing Li

{"title":"Distributed Leader-Following Formation Control of Networked Mobile Robots via Global Orientation Estimation","authors":"Siqi Wang;Heng Wang;Weiwei Che;Qing Li","doi":"10.1109/TNSE.2025.3545119","DOIUrl":null,"url":null,"abstract":"This article proposes a novel distributed leader-following formation control strategy for multiple networked mobile robots, utilizing the relative position measurements among robots. In particular, the leader is assumed to have the same kinematics as the followers and all the robots do not rely on orientation measurements. Firstly, a global orientation estimation law is proposed in the sense that the followers' orientation information is estimated in the leader's reference frame, only based on the leader's orientation estimation and relative bearing information. Secondly, since the leader is not directly connected to all the followers, a new distributed state observer is designed for each follower to estimate the leader's states. Especially, the designed observer not only removes the algebraic loops issue but also eliminates the requirement for the leader's acceleration information. Furthermore, a distributed formation control law is proposed by incorporating the previous estimations, and it is proved that the closed-loop system consisting of the observer and controller is asymptotically stable. Finally, simulation results validate the effectiveness and superiority of the proposed method.","PeriodicalId":54229,"journal":{"name":"IEEE Transactions on Network Science and Engineering","volume":"12 3","pages":"2135-2150"},"PeriodicalIF":6.7000,"publicationDate":"2025-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Network Science and Engineering","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10906553/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 0

Abstract

This article proposes a novel distributed leader-following formation control strategy for multiple networked mobile robots, utilizing the relative position measurements among robots. In particular, the leader is assumed to have the same kinematics as the followers and all the robots do not rely on orientation measurements. Firstly, a global orientation estimation law is proposed in the sense that the followers' orientation information is estimated in the leader's reference frame, only based on the leader's orientation estimation and relative bearing information. Secondly, since the leader is not directly connected to all the followers, a new distributed state observer is designed for each follower to estimate the leader's states. Especially, the designed observer not only removes the algebraic loops issue but also eliminates the requirement for the leader's acceleration information. Furthermore, a distributed formation control law is proposed by incorporating the previous estimations, and it is proved that the closed-loop system consisting of the observer and controller is asymptotically stable. Finally, simulation results validate the effectiveness and superiority of the proposed method.

查看原文本刊更多论文

基于全局方向估计的网络化移动机器人分布式leader - follower群体控制

利用机器人之间的相对位置测量，提出了一种新型的多联网移动机器人分布式leader-follow队列控制策略。特别是，假定领导者与follower具有相同的运动学，并且所有机器人都不依赖于方向测量。首先，提出了一种全局方向估计律，即在领导者的参照系中仅根据领导者的方向估计和相对方位信息估计follower的方向信息；其次，由于领导者与所有追随者没有直接连接，因此为每个追随者设计了一个新的分布式状态观测器来估计领导者的状态。特别地，设计的观测器不仅消除了代数循环问题，而且消除了对领导者加速度信息的要求。在此基础上，提出了一种分布式群体控制律，并证明了由观测器和控制器组成的闭环系统是渐近稳定的。最后，仿真结果验证了该方法的有效性和优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Transactions on Network Science and Engineering Engineering-Control and Systems Engineering

CiteScore

12.60

自引率

9.10%

发文量

393

期刊介绍： The proposed journal, called the IEEE Transactions on Network Science and Engineering (TNSE), is committed to timely publishing of peer-reviewed technical articles that deal with the theory and applications of network science and the interconnections among the elements in a system that form a network. In particular, the IEEE Transactions on Network Science and Engineering publishes articles on understanding, prediction, and control of structures and behaviors of networks at the fundamental level. The types of networks covered include physical or engineered networks, information networks, biological networks, semantic networks, economic networks, social networks, and ecological networks. Aimed at discovering common principles that govern network structures, network functionalities and behaviors of networks, the journal seeks articles on understanding, prediction, and control of structures and behaviors of networks. Another trans-disciplinary focus of the IEEE Transactions on Network Science and Engineering is the interactions between and co-evolution of different genres of networks.