Robust Observer-based Control of Nonlinear Multi-omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol

doi:10.1007/s11633-020-1254-z

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	Robust Observer-based Control of Nonlinear Multi-omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol
	M. R. Rahimi Khoygani 1,2
刊名	International Journal of Automation and Computing
	2021
卷号	18 期号:5 页码:787-801
关键词	Multi-agent system (MAS) nonlinear controller nonlinear observer high-order sliding mode consensus protocol omnidirectional robots
ISSN号	1476-8186
DOI	10.1007/s11633-020-1254-z
英文摘要	This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing; omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot (MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system (MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45463]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	1.Department of Electrical Engineering, University of Qom, Qom 3716146611, Iran 2.Department of Control Engineering, Islamic Azad University, Tehran 1477893855, Iran
推荐引用方式 GB/T 7714	M. R. Rahimi Khoygani. Robust Observer-based Control of Nonlinear Multi-omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol[J]. International Journal of Automation and Computing,2021,18(5):787-801.
APA	M. R. Rahimi Khoygani.(2021).Robust Observer-based Control of Nonlinear Multi-omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol.International Journal of Automation and Computing,18(5),787-801.
MLA	M. R. Rahimi Khoygani."Robust Observer-based Control of Nonlinear Multi-omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol".International Journal of Automation and Computing 18.5(2021):787-801.