Neural Network-Based Optimal Control of Mobile Robot Formations With Reduced Information Exchange

A novel formation control scheme for mobile robots is introduced in the context of leader-follower framework with reduced communication exchange. The dynamical controller inputs for the robots are approximated from nonlinear optimal control techniques in order to track the designed control velocitie...

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Veröffentlicht in:	IEEE transactions on control systems technology 2013-07, Vol.21 (4), p.1407-1415
Hauptverfasser:	Dierks, Travis, Brenner, B., Jagannathan, S.
Format:	Artikel
Sprache:	eng
Schlagworte:	Approximation methods Artificial neural networks Cost function Feedforward neural networks Followers Formations Kinematics Leader-follower formation control Lyapunov stability neural network (NN) Neural networks nonholonomic mobile robot Nonlinearity Obstacles Operations research Optimal control Robot control Robots Studies Wireless communications
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