Fully Actuated Behavioral Control for Multiple Omnidirectional Mobile Robots System with Uncertain Dynamics

摘要

In this paper, the issue of distributed formation control for a group of omnidirectional mobile robots with uncertain dynamics and external disturbances is investigated. A fully actuated behavioral control scheme is introduced to efficiently accomplish the desired cooperative task. Within the strategy, a distributed formation behavior based on a fixed-time cooperative protocol and null-space-based behavioral control method is designed, satisfying both neighbor collaboration and leader tracking requirement. Through a prioritized multi-behavior fusion process, the desired kinematic commands of each robot is obtained. Then, we convert the over-actuated systems into a fully actuated configuration form. Furthermore, a sliding mode controller integrated with an extended state observer was designed for each robot. This advanced controller enables precise tracking of desired kinematic commands by taking into account the fully actuated nonlinear dynamics of the robots. Finally, simulation results are provided to demonstrate the advantages and effectiveness of the proposed method.