Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

被引：6
作者：
Peng, Zhaoxia [1 ]
Yang, Shichun [1 ]
Wen, Guoguang [2 ]
Rahmani, Ahmed [3 ]
机构：
[1] Beihang Univ, Sch Transportat Sci & Engn, Beijing 100191, Peoples R China
[2] Beijing Jiaotong Univ, Dept Math, Beijing 100044, Peoples R China
[3] Ecole Cent Lille, CNRS, UMR 8219, LAGIS, F-59651 Villeneuve Dascq, France
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2014年 / 2014卷
基金：
国家高技术研究发展计划(863计划);
关键词：
FOLLOWER FORMATION CONTROL; COOPERATIVE CONTROL; TRACKING CONTROL; SYSTEMS; FLOCKING; INFORMATION;
D O I：
10.1155/2014/670497
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.
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页数：12
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