Path-Following Control Capable of Reinforcing Transient Performances for Networked Mobile Robots Over a Single Curve

摘要

This article proposes a path-following control capable of reinforcing transient performances for networked mobile robots over a single curve. By resorting to a new coordinated error formulated by projective arc length rather than relative distance, a path-following controller consisting of an individual steering law and a distributed velocity control law is constructed for multiple robots traveling along a common curve, accomplishing a queue formation pattern with an equal arc spacing at a uniform velocity. Additionally, note that multirobot missions always impose stringent time limits in practice, hence a tracking differentiator-based prescribed performance control (TDPPC) scheme is proposed to enforce tracking deviations of geometric and dynamic objectives approximating to pregiven ranges before an appointed time. The prominent merits of the developed scheme are that a cooperative behavior over a general curve can be acquired by assigning projective arc lengths, and a desired settling time for each robot can be arbitrarily designated free from initial conditions. All error variables of entire system are analyzed to be convergent. Simulation and experimental outcomes are given to reveal the utility of presented method.