balloon61 / model-predictive-multi-robot-formation-control-with-unknown-slippage

Leader-Follower based model predict formation control, with adaptive control to overcome slippage problem in each robots

Multi-robot-formation-control-with-unknown-slippage

Description

This package implement multi-robot formation control with Receding-Horizontal scheme and the adaptive control to overcome the unknown slippage, the unknown slippage is an important issue when robot is moving outdoor for example in different type of soil. This pacjage mainly follow two papers (1) Observer-Based Adaptive Tracking Control of Wheeled Mobile Robots with Unknown Slippage Parameters (2) Leader-Follower Formation Control of Multiple Non- holonomic Mobile Robots Incorporating a Receding- Horizon Scheme Know that the report is a rewrite version of these two select papers.

Requirement

Matlab, simulink, Mobile Robotics Simulation Toolbox

Simulation

Adaptive control only

AdaptiveControlTrajectoryTracking.slx This simulink file can track circle trajectory and linear trajectory with adaptive control.

Formation control and Adative control

Adaptive_and_Formation_control_main.slx This simulink file uses adaptive control for the leader, on the other hand the formation will change in 60 sec.

Demo

This simulation is divide by three videos.

(1) https://youtu.be/acIaePsJlAY (2) https://youtu.be/s1IC-PTa-eM (3) https://youtu.be/5PbcEr_12_w