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Formation control of multiple mecanum-wheeled mobile robots with physical constraints and uncertainties

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Abstract

Aiming at the formation control of multiple Mecanum-wheeled mobile robots (MWMRs) with physical constraints and model uncertainties, a novel robust control scheme that combines model predictive control (MPC) and extended state observer-based adaptive sliding mode control (ESO-ASMC) is proposed in this paper. First, a linear MPC strategy is proposed to address the motion constraints of MWMRs, which can transform the robot formation model based on leader-follower into a constrained quadratic programming (QP) problem. The QP problem can be solved iteratively online by a delay neural network (DNN) to obtain the optimal control velocity of the follower robot. Then, to address the input saturation constraints, model uncertainties and unknown disturbances in the dynamic model, an improved ESO-ASMC is proposed and compared with the robust adaptive terminal sliding mode control (RATSMC) and the conventional sliding mode control (SMC) to prove the effectiveness. The proposed scheme, considering the optimal control velocity obtained by the kinematics controller as the given desired velocity of the dynamics controller, can implement precise formation control, while solving various physical constraints of the robot, and eliminating the effects of model uncertainties and disturbances. Finally, through a comparative simulation case, the effectiveness and robustness of the proposed method are verified.

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Authors and Affiliations

  1. School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510006, China

    Dongliang Wang, Wu Wei, Yong Gao, Yanjie Li & Qiuda Yu

  2. School of Automation, China University of Geosciences, Wuhan, Hubei, 430074, China

    Xinmei Wang

  3. School of Department of Electronic and Information Engineering, Shantou University, 515063, Guangdong, China

    Zhun Fan

  4. Key Lab of Digital Signal and Image Processing of Guangdong Province, Shantou University, 515063, Guangdong, China

    Zhun Fan

  5. Key Laboratory of Intelligent Manufacturing Technology (Shantou University), Ministry of Education, 515063, Guangdong, China

    Zhun Fan

  6. State Key Lab of Digital Manufacturing Equipment & Technology, Huazhong University of Science and Technology, 430074, Wuhan, China

    Zhun Fan

Authors
  1. Dongliang Wang
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  2. Wu Wei
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  3. Xinmei Wang
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  4. Yong Gao
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  5. Yanjie Li
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  7. Zhun Fan
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Correspondence to Wu Wei.

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Wang, D., Wei, W., Wang, X. et al. Formation control of multiple mecanum-wheeled mobile robots with physical constraints and uncertainties. Appl Intell 52, 2510–2529 (2022). https://doi.org/10.1007/s10489-021-02459-3

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