Command Filter Adaptive Fuzzy Formation Asymptotic Tracking Control for Nonholonomic Multirobot Systems With Multiple Constraints

Abstract

In this article, the problem of adaptive command filter formation asymptotic tracking control (FATC) is investigated for nonholonomic multirobot systems (NMRSs) with multiple constraints. Consider the robot's uncertain dynamics parts that the unknown system parameters and nonlinear functions, which are approximated by using adaptive technique and fuzzy logic systems (FLSs). The transient and steady-state performance, collision avoidance, and connectivity maintenance can be guaranteed by employing the universal barrier function and prescribed performance control (PPC) approach. In addition, in order to compensate the influence of filtering errors and make followers more accurately and swiftly track leader's trail, a novel adaptive FATC scheme is further developed by subtly combining the command filter technique and exponential decay function. This scheme can guarantee all signals of controlled systems are bounded and the formation tracking errors asymptotically converge to origin. Finally, the feasibility of FATC scheme is demonstrated for NMRSs.