Leader-follower formation control of Euler-Lagrange systems with limited field-of-view and saturating actuators: a case study for tractor-trailer wheeled mobile robots

DOI10.1016/J.EJCON.2023.100903MaRDI QIDQ6152379zbMATH OpenOpenAlexFDO

Authors Amir Naderolasli, Khoshnam Shojaei, Abbas Chatraei

Publication date 13 February 2024

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.ejcon.2023.100903

zbMATH Keywords

dynamic surface controlbarrier Lyapunov functionEuler-Lagrange systemsfixed-time controltractor-trailer wheeled mobile robots

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and storage functions (93D30)

Recommendations

• Saturated observer-based adaptive neural network leader-following control of \(N\) tractors with \(n\)-trailers with a guaranteed performance
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• scientific article; zbMATH DE number 7295088

Cites work

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• Trajectory planning and robust tracking control for a class of active articulated tractor-trailer vehicle with on-axle structure
• Trajectory tracking of wheeled mobile robots using only Cartesian position measurements

Cited in

(2)

• Saturated observer-based adaptive neural network leader-following control of \(N\) tractors with \(n\)-trailers with a guaranteed performance
• Distributed bipartite time-varying formation tracking control with prescribed-time convergence for heterogeneous Euler-Lagrange systems

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