Formation Control of Multiple Wheeled Mobile Robots via Leader-Follower Approach

摘要：

　　This paper investigates the formation control of multiple wheeled mobile robots with differential drive.Based on the kinematics models of the leader-follower system in Cartesian coordinates,four control laws are derived by the straightforward input-output linearization method,and asymptotical stable for the formation control system is achieved by the proposed control laws.Simulation studies are included to demonstrate the effectiveness of the proposed method.

关键词： Multiple wheeled mobile robots differential drive formation control leader-follower nonlinear system

作者: Tao Peng Shan Li

作者单位: College of Electronic Information and Automation,Chongqing University of Technology,Chongqing 400054,China

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 4215-4220

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）