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

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 robots 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.

关键词： Practical formation control Noholonomic systems Persistent excitation

作者: CAO Ke-Cai LV Mengjiao WU Yang

作者单位: College of Automation,Nanjing University of Posts and Telecommunications,Nanjing,210023,P.R.China;Co College of Automation,Nanjing University of Posts and Telecommunications,Nanjing,210023,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1276-1281

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）