Formation Tracking Control and Formation Stabilization Control of Multiple Nonholonomic Mobile Robots
Formation tracking control problem and formation stabilization problem for multiple nonholonomic mobile robots are considered in this paper. Through introducing a virtual nonholonomic robot, the formation control problem is transformed into a tracking problem between the virtual robot and the leader. According to different motions of the leader robot, formation tracking and formation stabilization problem can be manipulated in a same framework. Theories from nonautonomous cascaded systems are involved to simplify the controller synthesis after carefully studying the structure of the error dynamics systems and global exponential controllers are obtained for these control problems in the end. Simulation results using Matlab illustrated the effectiveness of solving the formation control problems using methodologies presented in this paper.
Formation tracking control formation stabilization control cascaded systems leader-follower control
Ke-cai Cao Chunxiang Liu
Department of Automatic Control, Nanjing University of Posts and Telecommunications, Nanjing, 210003, 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
6053-6058
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）