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

Key Words

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)

Page #

359 - 370

Content Language


English Abstract

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.

Topic Category 基礎與應用科學 > 資訊科學
Times Cited
  1. 曾華彥(2015)。車間光通訊通道不對稱性之分析。臺灣大學資訊工程學研究所學位論文。2015。1-47。