Employing Fuzzy Adaptive and Event-Triggered Approaches to Achieve Formation Control of Nonholonomic Mobile Robots Under Complete State Constraints

摘要

This article delves into the problem of fuzzy adaptive event-triggered (ET) formation control for nonholonomic mobile robots (NMRs) subject to full-state constraints. Fuzzy logic systems (FLSs) are employed to identify the unknown nonlinear functions within the system. To guarantee that all system states remain within their constraint boundaries, barrier Lyapunov functions (BLFs) are meticulously constructed. Subsequently, within the framework of the backstepping control design algorithm, we propose a novel fuzzy adaptive ET formation controller. Our ET mechanism can achieve an overall resource-saving rate of 88.17% for the four robots. Rigorous theoretical analysis demonstrates that the designed strategy not only ensures the stability of the controlled NMRs but also enables the formation tracking errors to converge to a small neighborhood around zero. Notably, the BLFs-based control approach presented herein endows the system with the capacity to avoid collisions to a certain degree, enhancing the overall safety and reliability of the robot formation. Finally, a simulation example is provided. The results vividly illustrate the effectiveness and practicality of the proposed theory, validating its potential for real-world applications in the field of nonholonomic mobile robot formation control.