Intelligent adaptive distributed consensus formation control for uncertain networked heterogeneous swedish-wheeled omnidirectional multi-robots

Abstract

This paper presents an distributed consensus formation control using recurrent fuzzy wavelet neural networks (RFWNN) for a group of heterogeneous mobile three-Swedish-wheeled omnidirectional robots (TSWORs) with uncertainties. The dynamic behavior of each TSWOR is modelled by a three-input-three-output second-order state equation and the multirobot system is modeled by a directed graph. By online learning the system uncertainties using RFWNN and using the Lyapunov stability theory, an intelligent adaptive distributed consensus formation control approach is presented to carry out formation control in the presence of heterogeneity and uncertainties. Simulations are conducted to show the effectiveness and merits of the proposed method.