Practical formation stabilization of nonholonomic mobile robots based on injecting perturbation signals

被引：0
|
作者：
Cao Ke-Cai [1 ,2 ]
Lv Mengjiao [1 ]
Wu Yang [1 ]
机构：
[1] Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing 210023, Jiangsu, Peoples R China
[2] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Jiangsu, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
Practical formation control; Noholonomic systems; Persistent excitation; MULTIVEHICLE SYSTEMS; TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Practical formation stabilization control problems of multiple nonholonomic mobile robots have been considered in this paper. Cascaded structure of nonholonomic mobile robot system has been incorporated in the design of formation controllers. Some external perturbing signals have been injected into the consensus protocols of each robot's direction to overcome the uncontrollability of nonholonomic mobile robots when their reference target dose not satisfy the popular condition of persistent excitation. Simulation results using Matlab have illustrated the effectiveness of the formation stabilization controllers presented in this paper.
引用
收藏
页码：1276 / 1281
页数：6
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