Adaptive synchronized tracking of heterogeneous spherical robots using distributed hierarchical sliding surfaces under a directed graph

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• 作者：Yun Ho Choi ; Sung Jin Yoo
• 刊名：Nonlinear Dynamics
• 出版年：2016
• 出版时间：July 2016
• 年：2016
• 卷：85
• 期：2
• 页码：913-922
• 全文大小：1,381 KB
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X
• 卷排序：85

文摘

This paper addresses an adaptive synchronized tracking problem of multiple spherical robots with heterogeneous nonlinearities and uncertain rolling resistances under directed networks. A dynamic leader is considered, and its information has been accessed by only a small fraction of follower robots. The main contribution of this paper is to present distributed hierarchical sliding surfaces in consideration of underactuated characteristics of spherical robots so that all followers track a dynamic leader and the swing-up angle of each follower tracks its swing-up balance angle in a fully distributed fashion. Based on these surfaces, we design an adaptive synchronized tracking algorithm with distributed estimators for estimating the leader signal’s velocity and the swing-up balance angular velocity, and the adaptive laws for estimating rolling resistances. The stability of the overall closed-loop system is analyzed in the Lyapunov sense. A simulation result is given to illustrate the effectiveness of the proposed methodology.KeywordsSynchronized trackingDistributed hierarchical sliding surfaces (DHSS)Networked spherical robots