Abstract
In 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.
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.
| Original language | English |
|---|---|
| Title of host publication | 14th IFAC Symposium on Large Scale Complex Systems: Theory and Applications |
| Subtitle of host publication | Theory and Applications |
| Editors | Weixing Zheng |
| Publisher | Elsevier |
| Pages | 31-36 |
| Number of pages | 6 |
| Publication status | Published - 2016 |
| Event | 14th IFAC Symposium on Large Scale Complex Systems - Riverside, United States Duration: 28-May-2016 → … |
Publication series
| Name | IFAC-PapersOnLine |
|---|---|
| Number | 4 |
| Volume | 49 |
| ISSN (Electronic) | 2405-8963 |
Conference
| Conference | 14th IFAC Symposium on Large Scale Complex Systems |
|---|---|
| Country/Territory | United States |
| City | Riverside |
| Period | 28/05/2016 → … |
Keywords
- Multi-agent systems
- Distributed control
- Nonholonomic mobile robots
- Tracking control