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Robust Coordinated Tracking Control of Multiple Robots System Under Bounded Inputs
Studies in Informatics and Control
The coordinated tracking control of multiple robots system with input saturation and obstacle avoidance is investigated in this paper. Additionally, a robust hierarchical outer-inner layer controller is proposed. In order to avoid obstacles and realize coordination tracking control, null-space-based behavioural (NSB) control is applied in the outer layer where it generates the velocity required by the inner layer. An improved adaptive radical basis function neural networks (RBFNNS) proportionaldoi:10.24846/v29i3y202002 fatcat:lzljm4g735gjjjtflzezuadlje