Control Design of a Swarm of Intelligent Robots: A Closed-Form <i>H<sub>2</sub></i> Nonlinear Control Approach
A closed-form <i>H<sub>2</sub></i> approach of a nonlinear trajectory tracking design and practical implementation of a swarm of wheeled mobile robots (WMRs) is presented in this paper. For the nonlinear trajectory tracking problem of a swarm of WMRs, the design purpose is to...
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MDPI AG
2020-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/3/1055 |
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| author | Yung-Hsiang Chen Shi-Jer Lou |
| author_facet | Yung-Hsiang Chen Shi-Jer Lou |
| author_sort | Yung-Hsiang Chen |
| collection | DOAJ |
| description | A closed-form <i>H<sub>2</sub></i> approach of a nonlinear trajectory tracking design and practical implementation of a swarm of wheeled mobile robots (WMRs) is presented in this paper. For the nonlinear trajectory tracking problem of a swarm of WMRs, the design purpose is to point out a closed-form <i>H<sub>2</sub></i> nonlinear control method that analytically fulfills the <i>H<sub>2</sub></i> control performance index. The key and primary contribution of this research is a closed-form solution with a simple control structure for the trajectory tracking design of a swarm of WMRs is an absolute achievement and practical implementation. Generally, it is challenging to solve and find out the closed-form solution for this nonlinear trajectory tracking problem of a swarm of WMRs. Fortunately, through a sequence of mathematical operations for the trajectory tracking error dynamics between the control of a swarm of WMRs and desired trajectories, this <i>H<sub>2</sub></i> trajectory tracking problem is equal to solve the nonlinear time-varying Riccati-like equation. Additionally, the closed-form solution of this nonlinear time-varying Riccati-like equation will be acquired with a straightforward form. Finally, for simulation-controlled performance of this <i>H<sub>2</sub></i> proposed method, two testing scenarios, circular and S type reference trajectories, were applied to performance verification. |
| first_indexed | 2024-12-11T15:02:44Z |
| format | Article |
| id | doaj.art-3f50aef291a94d9482ecdbd90576c264 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-11T15:02:44Z |
| publishDate | 2020-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-3f50aef291a94d9482ecdbd90576c2642022-12-22T01:01:04ZengMDPI AGApplied Sciences2076-34172020-02-01103105510.3390/app10031055app10031055Control Design of a Swarm of Intelligent Robots: A Closed-Form <i>H<sub>2</sub></i> Nonlinear Control ApproachYung-Hsiang Chen0Shi-Jer Lou1Department of Mechanical Engineering, National Pingtung University of Science and Technology, Pingtung 91201, TaiwanCenter for Teacher Education Program, National Pingtung University of Science and Technology, Pingtung 91201, TaiwanA closed-form <i>H<sub>2</sub></i> approach of a nonlinear trajectory tracking design and practical implementation of a swarm of wheeled mobile robots (WMRs) is presented in this paper. For the nonlinear trajectory tracking problem of a swarm of WMRs, the design purpose is to point out a closed-form <i>H<sub>2</sub></i> nonlinear control method that analytically fulfills the <i>H<sub>2</sub></i> control performance index. The key and primary contribution of this research is a closed-form solution with a simple control structure for the trajectory tracking design of a swarm of WMRs is an absolute achievement and practical implementation. Generally, it is challenging to solve and find out the closed-form solution for this nonlinear trajectory tracking problem of a swarm of WMRs. Fortunately, through a sequence of mathematical operations for the trajectory tracking error dynamics between the control of a swarm of WMRs and desired trajectories, this <i>H<sub>2</sub></i> trajectory tracking problem is equal to solve the nonlinear time-varying Riccati-like equation. Additionally, the closed-form solution of this nonlinear time-varying Riccati-like equation will be acquired with a straightforward form. Finally, for simulation-controlled performance of this <i>H<sub>2</sub></i> proposed method, two testing scenarios, circular and S type reference trajectories, were applied to performance verification.https://www.mdpi.com/2076-3417/10/3/1055wheeled mobile robot (wmr)closed-form solution<i>h<sub>2</sub></i> performance index |
| spellingShingle | Yung-Hsiang Chen Shi-Jer Lou Control Design of a Swarm of Intelligent Robots: A Closed-Form <i>H<sub>2</sub></i> Nonlinear Control Approach Applied Sciences wheeled mobile robot (wmr) closed-form solution <i>h<sub>2</sub></i> performance index |
| title | Control Design of a Swarm of Intelligent Robots: A Closed-Form <i>H<sub>2</sub></i> Nonlinear Control Approach |
| title_full | Control Design of a Swarm of Intelligent Robots: A Closed-Form <i>H<sub>2</sub></i> Nonlinear Control Approach |
| title_fullStr | Control Design of a Swarm of Intelligent Robots: A Closed-Form <i>H<sub>2</sub></i> Nonlinear Control Approach |
| title_full_unstemmed | Control Design of a Swarm of Intelligent Robots: A Closed-Form <i>H<sub>2</sub></i> Nonlinear Control Approach |
| title_short | Control Design of a Swarm of Intelligent Robots: A Closed-Form <i>H<sub>2</sub></i> Nonlinear Control Approach |
| title_sort | control design of a swarm of intelligent robots a closed form i h sub 2 sub i nonlinear control approach |
| topic | wheeled mobile robot (wmr) closed-form solution <i>h<sub>2</sub></i> performance index |
| url | https://www.mdpi.com/2076-3417/10/3/1055 |
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