Formation Control of Omnidirectional Mobile Robots Based on Bionic Coupling Mechanism

摘要

In this paper, distributed formation control based on multiple omni-directional mobile robot systems(MOMRS) is studied. The model of omni-directional mobile robot exists the problems of nonlinear dynamics and input saturation, and there is a complicated coupling relationship in formation control. Firstly, according to the relationship between individuals in the natural community, a bionic coupling mechanism is proposed. Based on this, the formation control model of MOMRS with unknown nonlinear dynamics and input saturation constraints is established; Secondly, based on dynamic surface control and radial basis function neural network(RBF-NN), an adaptive formation controller is designed, which solves the problems of input saturation and nonlinear dynamics. Based on Lyapunov stability theorem, the stability of the controller is proved. Finally, six OMRs are used for simulation, and the simulation results prove the effectiveness of the designed controller.