Observer-Based Leader-Following Formation Control Using Onboard Sensor Information

被引：63

作者：

Gustavi, Tove ^{[1
]}

Hu, Xiaoming ^{[1
]}

机构：

[1] Royal Inst Technol, Div Optimizat & Syst Theory, S-10044 Stockholm, Sweden

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2008年 / 24卷 / 06期

关键词：

Formation control; leader-following control; nonlinear; observers;

D O I：

10.1109/TRO.2008.2006244

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, leader-following formation control for mobile multiagent systems with limited sensor information is studied. The control algorithms developed require information available from onboard sensors only, and in particular, the measurement of the leader (neighbor) speed is not needed. Instead, an observer Is designed for the estimation of this speed, With the proposed control algorithms as building blocks, many complex formations can be obtained.

引用

页码：1457 / 1462

页数：6

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