Low-Complexity Predefined-Time Optimal Safe Formation Control for Nonholonomic Mobile Robot via Funnel Technique

Authors:
Publisher website
Google Scholar
Abstract
This article investigates the low-complexity predefined-time (PT) optimal formation control (FC) of multinonholonomic mobile robots (MNMRs) with collision avoidance safety requirements. First, by applying the funnel technique, the collision avoidance and communication range constraints between adjacent robots are uniformly transformed into formation error constraints, thereby eliminating the complex barrier Lyapunov functions in existing methods and reducing the complexity of controller design. Then, to mitigate the complexity explosion problem, an enhanced nonlinear filter with adaptive parameters is designed, which reduces the computational load while improving the convergence performance of the system. On this basis, the low-complexity safe FC scheme is constructed using broad fuzzy neural networks (BFNNs) and reinforcement learning techniques, achieving PT stability, optimality, avoiding collisions, and no overshoot behavior in formation errors. Finally, the effectiveness and feasibility of the proposed control method are verified on the Speedgoat real-time target machine.
Funding Information
  • National Natural Science Foundation of China (62503347)
  • National Natural Science Foundation of China (62573311)
  • National Natural Science Foundation of China (62533013)
  • Natural Science Foundation of Jiangsu Province (BK20250992)
  • Natural Science Foundation for Colleges and Universities of Jiangsu Province under Grant (25KJB120009)
  • 333 Project of Jiangsu Province

This publication has 31 references indexed in Scilit: