Cost-effective distributed FTFC for uncertain nonholonomic mobile robot fleet with collision avoidance and connectivity preservation

摘要

In this paper, the fault-tolerant formation control (FTFC) problem is investigated for a group of uncertain nonholonomic mobile robots with limited communication ranges and unpredicted actuator faults, where the communication between the robots is in a directed one-to-one way. In order to guarantee the connectivity preservation and collision avoidance among the robots, some properly chosen performance functions are incorporated into the controller to per-assign the asymmetrical bounds for relative distance and bearing angle between each pair of adjacent mobile robots. Particularly, the resultant control scheme remains at a cost-effective level because its design does not use any velocity information from neighbors, any prior knowledge of system nonlinearities or any nonlinear approximator to account for them despite the presence of modeling uncertainties, unknown external disturbances, and unexpected actuator faults. Meanwhile, each follower is derived to track the leader with the tracking errors regarding relative distance and bearing angle subject to prescribed transient and steady-state performance guarantees, respectively. Moreover, all the closed-loop signals are ensured to be ultimately uniformly bounded. Finally, a numerical example is simulated to verify the effectiveness of this methodology.