Adaptive Neuro-Fuzzy Formation Control for Leader-Follower Mobile Robots
Hung-Wei Lin；Wei-Shou Chan；Chia-Wen Chang；Cheng-Yuan Yang；Yeong-Hwa Chang
Multi-robot systems ； formation control ； neural fuzzy control ； Lyapunov stability
International Journal of Fuzzy Systems
|Volume or Term/Year and Month of Publication||
15卷3期（2013 / 09 / 01）
359 - 370
This paper aims to investigate the formation control of multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Based on the graph-theoretic concepts and locally distributed information, an adaptive neural fuzzy formation controller is designed with the capability of on-line learning. The learning rules of controller parameters can be derived from the analyzing of Lyapunov stability. In addition to simulations, the proposed techniques are applied to an experimental multi-robot platform for performance validations. From simulation and experimental results, the proposed adaptive neural fuzzy protocol can provide better formation responses compared to conventional consensus algorithms.