Minimally Rigid Formations Control for Multiple Nonholonomic Mobile Agents
In this paper, a decentralized feedback control strategy that drives a system of multiple nonholonomic unicycles to a desired minimally rigid formation in terms of the relative position measurement is proposed. The proposed control law is based on the adaptive perturbation method, and it can guarantee that the initially connected communication graph which is minimally rigid remains minimally rigid for all time, and that the multiple nonholonomic system achieves the uniquely desired minimally rigid formation. Simulation results are provided to illustrate the effectiveness of the control algorithm.
minimally rigid formation multiple nonholonomic unicycles adaptive perturbation method
Qin Wang Yu-Ping Tian
School of Automation, Southeast University, 2 Sipailou Road, Nanjing, 210096, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6171-6176
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）