Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots System
In this paper, the pinning control problem of nonlinear multi-robots system (MRS) is investigated. By introducing Linear-Extended-State-Observer (LESO) approach, a LESO based pinning control algorithm is proposed for the multi-robots system with non-identical unknown nonlinear dynamics. By pinning o...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9159566/ |
| _version_ | 1818579297110065152 |
|---|---|
| author | Zhengguang Ma Yongfei Xiao Peng Wang Yongguo Zhao |
| author_facet | Zhengguang Ma Yongfei Xiao Peng Wang Yongguo Zhao |
| author_sort | Zhengguang Ma |
| collection | DOAJ |
| description | In this paper, the pinning control problem of nonlinear multi-robots system (MRS) is investigated. By introducing Linear-Extended-State-Observer (LESO) approach, a LESO based pinning control algorithm is proposed for the multi-robots system with non-identical unknown nonlinear dynamics. By pinning one robot with small coupling strength, a LESO based control algorithm has been developed to guarantee the nonlinear multi-robots system to reach synchronisation when the nonlinear function is given. Furthermore, the tracking errors of the following robots are bounded when the nonlinear function is unknown. Finally, numerical simulations with different scenarios are presented to illustrate the effectiveness of the theoretical results. |
| first_indexed | 2024-12-16T06:59:27Z |
| format | Article |
| id | doaj.art-669c92acce1949888e5aff6e1915351f |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T06:59:27Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-669c92acce1949888e5aff6e1915351f2022-12-21T22:40:12ZengIEEEIEEE Access2169-35362020-01-01814452214452810.1109/ACCESS.2020.30143999159566Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots SystemZhengguang Ma0https://orcid.org/0000-0002-7714-8113Yongfei Xiao1Peng Wang2Yongguo Zhao3https://orcid.org/0000-0001-8906-768XInstitute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, ChinaInstitute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, ChinaInstitute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, ChinaInstitute of Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan, ChinaIn this paper, the pinning control problem of nonlinear multi-robots system (MRS) is investigated. By introducing Linear-Extended-State-Observer (LESO) approach, a LESO based pinning control algorithm is proposed for the multi-robots system with non-identical unknown nonlinear dynamics. By pinning one robot with small coupling strength, a LESO based control algorithm has been developed to guarantee the nonlinear multi-robots system to reach synchronisation when the nonlinear function is given. Furthermore, the tracking errors of the following robots are bounded when the nonlinear function is unknown. Finally, numerical simulations with different scenarios are presented to illustrate the effectiveness of the theoretical results.https://ieeexplore.ieee.org/document/9159566/Linear-extended-state-observerpinning controlmulti-robots systemstate synchronizationnonlinear system |
| spellingShingle | Zhengguang Ma Yongfei Xiao Peng Wang Yongguo Zhao Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots System IEEE Access Linear-extended-state-observer pinning control multi-robots system state synchronization nonlinear system |
| title | Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots System |
| title_full | Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots System |
| title_fullStr | Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots System |
| title_full_unstemmed | Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots System |
| title_short | Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots System |
| title_sort | linear extended state observer based pinning control of nonlinear multi robots system |
| topic | Linear-extended-state-observer pinning control multi-robots system state synchronization nonlinear system |
| url | https://ieeexplore.ieee.org/document/9159566/ |
| work_keys_str_mv | AT zhengguangma linearextendedstateobserverbasedpinningcontrolofnonlinearmultirobotssystem AT yongfeixiao linearextendedstateobserverbasedpinningcontrolofnonlinearmultirobotssystem AT pengwang linearextendedstateobserverbasedpinningcontrolofnonlinearmultirobotssystem AT yongguozhao linearextendedstateobserverbasedpinningcontrolofnonlinearmultirobotssystem |