文章基本信息

标题：Distributed Leader-follower Formation Control of Nonholonomic Mobile Robots
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作者：Qun Lu ; Zhiqiang Miao ; Dan Zhang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：15
页码：67-72
DOI：10.1016/j.ifacol.2019.11.651
语种：English
出版社：Elsevier
摘要：AbstractThis paper considers the problem of distributed leader-follower formation control for nonholonomic mobile robots only using local interactions among the robots. First, a distributed estimation strategy is presented for each follower robot to estimate the leader’s state. Then the dynamic equations of the formation tracking errors are formulated and a distributed formation control scheme is designed, which yields globally uniformly ultimately bounded stability for the closed-loop systems without requiring persistent excitation conditions. Finally, a simulation example demonstrates the effectiveness of the proposed approach.
关键词：KeywordsDistributed formation controlnonholonomic mobile robotsdistributed formation controlpersistent exciting conditions