文章基本信息

标题：Distributed trajectory tracking control for multiple nonholonomic mobile robots *
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作者：Qingkai Yang ; Hao Fang ; Ming Cao 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：4
页码：31-36
DOI：10.1016/j.ifacol.2016.05.006
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, the distributed tracking problem for multiple nonholonomic mobile robots is investigated, in which the nonholonomic models are transformed into chained-form systems. By utilizing the dynamic oscillator strategy, the distributed controllers are constructed such that all the mobile robots’ trajectories converge to the desired reference asymptotically. One advantage of the chained-form system solution that we propose is that it requires no other variable transformations, which could help reducing the system’s complexity and broadening the proposed controller’s practical applications. Simulations are presented to show the effectiveness of the proposed control algorithms.
关键词：KeywordsMulti-agent systemsDistributed controlNonholonomic mobile robotsTracking control