Robust Collaborative Team Formation Control of Hybrid Teams of Biped Robots and Wheeled Vehicles Under External Disturbance and Communication Interactions

In this study, a collaborative team formation system of hybrid teams biped robots and tractor-trailers is designed for some common task. The consists number subsystems. Each subsystem composed tractor-trailer as the leader group followers. For convenience design, novel reference models are proposed to generate desired time-varying leader-follower cooperative in each team. Accordingly, design problem simplified set independent robust model tracking problems agent under external disturbances communication couplings from other agents. Subsequently, H∞ decentralized control strategy achieve efficiently attenuate effect disturbance coupling agents on performance agent. order avoid solving difficult Hamilton-Jacobi inequality (HJI) agent, numerical linear parameter-varying (LPV) modeling method employed approximate nonlinear error dynamic such that HJI can be equivalently transformed linear-matrix inequalities (LMIs) which solved by MATLAB LMI TOOLBOX. Since scheme based local information, extended very large-scale tractor-trailers. Finally, simulation example three teams, one six followers, given compare with optimal H2 verify effectiveness scheme.