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SUMMARY: This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method. [ABSTRACT FROM AUTHOR]

Abstract 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. [ABSTRACT FROM AUTHOR]

Controlling a robot manipulator system with both uncertain kinematics and dynamics is a challenging problem since the traditional control schemes that relying on the robot system models are no longer applicable. Developing a neural network‐based adaptive tracking control for such uncertain robot manipulator systems with region constraints is especially changing. In this paper, region tracking controllers are designed for a robot manipulator systems with uncertain kinematics and dynamics. The developed region tracking controllers ensures that the uncertain robot manipulator can track a moving region other than the traditional fixed point, which has better redundancy characteristics. The results are obtained through the development of the sliding‐mode and a novel proportion‐integration‐differentiation (PID)‐like method to address the region tracking control problem. Numerical simulations are presented to verify the proposed controller's performance. [ABSTRACT FROM AUTHOR]