Near-optimal sliding mode control for multi-robot consensus under dynamic events. (17th January 2023)

• Record Type: Journal Article
• Authors: Nandanwar, Anuj; Dhar, Narendra Kumar; Behera, Laxmidhar; Sinha, Rajesh
• Is Part Of: Advanced robotics. Volume 37:Number 1/2(2023)
• Page Start: 115
• Page End: 129
• Publication Date: 2023-01-17
• Subjects: Event trigger -- sliding mode -- neural network -- near-optimal -- multi-robot system; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2022.2155489
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : We propose a continuous-time design for finite-time consensus control for multi-robot system using event-based near-optimal sliding mode control. The system has a leader–follower framework prone to external bounded disturbance. The proposed design comprises of three parts: (i) formulation of control-affine dynamics, (ii) design a triggering condition for control updates that guarantee stability and consensus in the system, and (iii) design a near-optimal sliding mode control using neural-network based approximate dynamic programming. We derive a bound on inter-event time that guarantees admissibility of updated control input values. We finally validate the efficacy of proposed design through real-time experiments using three Pioneer P3-DX mobile robots (leader and two followers) and comparative analyses with other state-of-the-art approaches. The control updates of follower-1 and follower-2 robots are approximately 30.00 % and 32.22 %, respectively, that reduce the computational burden in multi-robot framework. GRAPHICAL ABSTRACT: UF0001