Neural network-based region reaching formation control for multi-robot systems in obstacle environment

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Journal Article
Neurocomputing, 2019, 333, (Automatica 53 53 2015), pp. 11-21
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© 2018 Elsevier B.V. This study is concerned with the region reaching formation control problem with collision and obstacle avoidance for multi-robot systems in the presence of model uncertainties and external disturbances. A novel neural network based robust control scheme combining with the adaptive compensator and the adaptive control gain is proposed to achieve the region reaching formation control with collision and obstacle avoidance. It is shown that under the proposed control method, all the robots can always reach into the objective region, maintain their formation, and guarantee collision and obstacle avoidance. Illustrative examples are presented to show the effectiveness of the proposed control scheme.
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