Distributed Adaptive Coordinated Tracking for Coupled Nonholonomic Mobile Robots
In this paper, a coordinated tracking control problem is studied for coupled nonholonomic mobile robots with limited information of a reference trajectory. A distributed control law with adaptive time-varying gains is proposed to guarantee that the robots can form a pre specified geometric pattern while the centroid of the geometric pattern can track the reference signal. By designing the adaptive control gains, the control algorithm of this paper does not require the global knowledge of the upper bound on the leaders control input. The stability of the system is proved with the aid of Lyapunov techniques. Finally, a simulation example is presented to verify the theoretical results.
Multi-agent system Unicycle Distributed coordinated tracking Adaptive control
Yilong Qiu Fei Chen Linying Xiang
Department of Automation, Xiamen University, Xiamen, Fujian 361005, P.R. China
国际会议
长沙
英文
253-257
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）