Adaptive distributed BLS-FONTSM formation control for uncertain networking heterogeneous omnidirectional mobile multirobots

摘要

In this paper, an adaptive distributed fractional-order nonsingular terminal sliding-mode (FONTSM) control method using broad learning system (BLS), is proposed for cooperative formation control of networking heterogeneous omnidirectional mobile multi-robots (HOMRs) with dynamic effects and uncertainties. The dynamic behavior of each uncertain HOMR is modeled by a reduced three-input-three-output second-order state equation with uncertainties, and the multi-robot system is modeled by directed graph theory. By using the Lyapunov-based sliding-mode theory and online learning of the system uncertainties via BLS, an adaptive-distributed BLS-FONTSM formation control approach is presented to carry out asymptotical formation control in the presence of uncertainties. The effectiveness and superiority of the proposed method are well exemplified by conducting three simulations. Experimental results are provided for illustration of the applicability of the proposed control method.