Operations Research, Systems Engineering and Industrial Engineering Commons^™

Neural Network Control Of Mobile Robot Formations Using Rise Feedback, Jagannathan Sarangapani, Travis Alan Dierks

Electrical and Computer Engineering Faculty Research & Creative Works

In this paper, an asymptotically stable (AS) combined kinematic/torque control law is developed for leader-follower-based formation control using backstepping in order to accommodate the complete dynamics of the robots and the formation, and a neural network (NN) is introduced along with robust integral of the sign of the error feedback to approximate the dynamics of the follower as well as its leader using online weight tuning. It is shown using Lyapunov theory that the errors for the entire formation are as and that the NN weights are bounded as opposed to uniformly ultimately bounded stability which is typical with most …