Experimental Results on Distributed Adaptive Control of Mobile Robots to Perform Cooperative Behaviors
Eren Sarioglu, Atahan Kurttisi, K. Merve Dogan · 2025
In the multi-agent systems, the presence of agent-based uncertainties and unknown control effectiveness cause undesirable motions and performance degradation. In this paper, we investigate the performance results of the application of the distributed adaptive controllers in Quanser’s four QBot2e ground robots in the presence of unknown control effectiveness and agent-based uncertainties to achieve cooperative behaviors on different graph typologies. Specifically, we compare the performance results of the designed distributed adaptive controller under undirected line, circle, and fully connected graph networks with four robots.