Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5004969 | ISA Transactions | 2014 | 7 Pages |
Abstract
This paper proposes an adaptive proportional integral derivative (PID) algorithm to solve a formation control problem in the leader-follower framework where the leader robot's velocities are unknown for the follower robots. The main idea is first to design some proper ideal control law for the formation system to obtain a required performance, and then to propose the adaptive PID methodology to approach the ideal controller. As a result, the formation is achieved with much more enhanced robust formation performance. The stability of the closed-loop system is theoretically proved by Lyapunov method. Both numerical simulations and physical vehicle experiments are presented to verify the effectiveness of the proposed adaptive PID algorithm.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Dongbin Shen, Weijie Sun, Zhendong Sun,