Distributed Leader-follower Formation Control of Nonholonomic Mobile Robots

被引：12

作者：

Lu, Qun ^{[1
,4
]}

Miao, Zhiqiang ^{[2
]}

Zhang, Dan ^{[3
]}

Yu, Li ^{[3
]}

Ye, Wenjun ^{[4
]}

Yang, Simon X. ^{[5
]}

Su, Chun-Yi ^{[6
]}

机构：

[1] Yancheng Inst Technol, Coll Elect Engn, Yancheng 224003, Peoples R China

[2] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Hunan, Peoples R China

[3] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou 310023, Zhejiang, Peoples R China

[4] Concordia Univ, Dept Mech Ind & Aerosp Engn, Montreal, PQ H3G 1M8, Canada

[5] Univ Guelph, Adv Robot & Intelligent Syst Lab, Sch Engn, Guelph, ON N1G 2W1, Canada

[6] Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 15期

关键词：

Distributed formation control; nonholonomic mobile robots; distributed formation control; persistent exciting conditions; TRACKING CONTROL;

D O I：

10.1016/j.ifacol.2019.11.651

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers the problem of distributed leader-follower formation control for nonholonomic mobile robots only using local interactions among the robots. First, a distributed estimation strategy is presented for each follower robot to estimate the leader's state. Then the dynamic equations of the formation tracking errors are formulated and a distributed formation control scheme is designed, which yields globally uniformly ultimately bounded stability for the closed-loop systems without requiring persistent excitation conditions. Finally, a simulation example demonstrates the effectiveness of the proposed approach. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：67 / 72

页数：6

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