Cooperative Trajectory Tracking Control of Multiple Mobile Robots Under Motor Voltage Losses

This paper deals with the cooperative trajectory tracking (CTT) control problem of multiple mobile robot (MR) systems subject to motor voltage losses. To account for the adverse effect induced by motor voltage loss, the dc-motor dynamics are first introduced in the multiple MR system (multiMRS). Then, to guarantee the successful completion of CTT missions even in the presence of motor voltage loss, unknown dynamics, and external disturbances, a resilient adaptive CTT control design approach, including the design of a virtual kinematic control law, a virtual current control law as well as a voltage control law, is developed. In addition, a CTT error dynamics is derived for multi-MRSs by incorporating the simultaneous effects of motor voltage loss, unknown dynamics, and external disturbances. After that, a formal theoretical analysis of the stability for the derived CTT error dynamics is provided. At last, an experimental example study is provided to substantiate the efficacy of the developed resilient adaptive CTT control design approach.