Abstract
This paper studies the distributed formation control of Multiple unmanned ground vehicle systems with input saturation. Based on the bionic coupling mechanism, a multi-agent model is established; The bionic coupling mechanism can determine the interaction weight according to the distance between agents. The closer the distance is, the greater the weight is, which can reduce the impact of external interference on communication. A distributed active controller is designed based on dynamic surface control, eliminating differential explosion in backstepping control. Due to the nonlinear dynamics of the system model caused by the mismatch between the assumed conditions and the actual environment, broad learning is used to estimate and compensate it. In order to solve the problem of input saturation caused by limited input in actual system, an input saturation auxiliary system is introduced to eliminate its adverse effects. The stability of the formation control scheme is proved by using the Lyapunov method. Simulation results verify the effectiveness of the controller.
This work was supported by the National Natural Science Foundation of China under Grant U2141238.
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Yang, Z., Xu, H., Pan, F., Wang, Y. (2023). Formation Control of Unmanned Ground Vehicles Based on Broad Learning. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_16
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DOI: https://doi.org/10.1007/978-981-99-6501-4_16
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