Finite-Time Observer-Based Formation Tracking With Application to Omni-Directional Robots

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dc.contributor.authorFei, Y.
dc.contributor.authorShi, P.
dc.contributor.authorLim, C.P.
dc.contributor.authorYuan, X.
dc.date.issued2023
dc.description.abstractThe challenging problem of robust formation control pertaining to omnidirectional robots with model uncertainty and actuator saturation is comprehensively investigated in this article. First, an observer-based formation controller is designed to ensure the semiglobal uniform ultimate boundedness of the system’s formation tracking error. Then, both global stability and practical finite-time stability are achieved to ascertain the practicality of the observer design. Apart from restricting the control input amplitude, we also investigate the reverse effect caused by saturated and coupled control input. As such, an adaptive compensator is formulated to attenuate the state oscillation caused by the reverse effect. Both numerical simulations and hardware-in-the-loop experiments are carried out to illustrate and evaluate the effectiveness and potentials of the proposed new techniques for real-world applications.
dc.description.statementofresponsibilityYang Fei, Peng Shi, Chee Peng Lim, and Xin Yuan
dc.identifier.citationIEEE Transactions on Industrial Electronics, 2023; 70(10):10598-10606
dc.identifier.doi10.1109/TIE.2022.3224186
dc.identifier.issn0278-0046
dc.identifier.issn0278-0046
dc.identifier.orcidShi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]
dc.identifier.orcidYuan, X. [0000-0001-5056-171X]
dc.identifier.urihttps://hdl.handle.net/2440/143289
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers
dc.rights© 2022 IEEE
dc.source.urihttps://doi.org/10.1109/tie.2022.3224186
dc.subjectActuator saturation; finite-time observer; formation control; multiagent systems; omnidirectional robots (ODRs)
dc.titleFinite-Time Observer-Based Formation Tracking With Application to Omni-Directional Robots
dc.typeJournal article
pubs.publication-statusPublished

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