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Robust constraint-following control for time-varying formation tracking and obstacle avoidance with formation maintenance of wheeled mobile robots
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DOI：10.1007/s11071-026-12955-1.png)
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Abstract
En 中文
In this article, the robust time-varying formation tracking control of wheeled mobile robots with obstacle avoidance is investigated from a constraint-following perspective. Here, constraint-following control refers to a control paradigm in which the desired control objectives are converted into servo constraints to be satisfied by appropriately designed control inputs. Specifically, by reformulating the time-varying formation tracking control objective as equality constraints and transforming obstacle avoidance as inequality constraint by a diffeomorphism, a robust time-varying formation tracking controller with obstacle avoidance is designed based on the generalized Udwadia–Kalaba equation. By using the Lyapunov minimax approach, the uniform boundedness and uniform ultimate boundedness of the closed-loop system are verified, even in the presence of bounded time-varying uncertainties and limited sensing conditions. Compared with the existing works on formation control with obstacle avoidance, where the desired formation is often distorted during tracking or avoidance maneuvers, the proposed controller maintains the desired formation configuration during both trajectory tracking and obstacle avoidance maneuvers. This formation maintenance property is especially advantageous in applications such as cooperative manipulation. Finally, some numerical simulations are provided to demonstrate the effectiveness of the control strategy.
Keywords:
Robust
Time-varying formation tracking control
Obstacle avoidance
Constraint-following
Wheeled mobile robots
Formation maintenance
Journal
IF:
6
Papers:
1.4W
Citations:
4.1W
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