文章基本信息

标题：Lyapunov-based formation-tracking control of nonholonomic systems under persistency of excitation
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作者：Mohamed Maghenem ; Mohamed Maghenem ; Antonio Loría 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：404-409
DOI：10.1016/j.ifacol.2016.10.199
语种：English
出版社：Elsevier
摘要：Abstract: We present a smooth nonlinear time-varying controller for leader-follower tracking of non-holonomic mobile robots. Our design relies upon the standing assumption that either the rotational or the translational reference velocity is persistently exciting. Then, we extend our results to cover the problem of formation tracking for a swarm of vehicles interconnected under a spanning tree communication topology rooted at the virtual leader. In this case, we propose a simple distributed control law that establishes the convergence of the error coordinate of each agent, relatively to its neighbourhood, under the same condition of persistency of excitation. In addition, our proofs are based on Lyapunov’s second method, that is, we provide a strict Lyapunov function.
关键词：KeywordsConsensusFormation controlAutonomous vehiclesNonholonomic systems