Distributed formation control of nonholonomic mobile robots without global position measurements
Distributed formation control of nonholonomic mobile robots without global position measurements
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DOI：
10.1016/j.automatica.2012.11.031
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发表时间：
2013-02-01
期刊：
影响因子：
6.4
通讯作者：
Jiang, Zhong-Ping
中科院分区：
文献类型：
--
作者：
Liu, Tengfei;Jiang, Zhong-Ping
本文提出了一类新型分布式非线性控制器，用于无需全局位置测量的独轮机器人的引导跟随编队控制。采用非线性小增益设计方法来处理独轮机器人非完整约束带来的问题，为实际实现提供了简单的条件。利用所提出的分布式控制器，无需假设任何树木传感结构即可实现编队控制目标。更有趣的是，分布式控制器对位置测量误差具有鲁棒性，并且机器人的线速度可以限制在特定的有界范围内。 (C) 2012 Elsevier Ltd. 保留所有权利。
This paper proposes a new class of distributed nonlinear controllers for leader-following formation control of unicycle robots without global position measurements. Nonlinear small-gain design methods are used to deal with the problem caused by the nonholonomic constraint of the unicycle robot and yield simple conditions for practical implementation. With the proposed distributed controllers, the formation control objective can be achieved without assuming any tree sensing structures. More interestingly, the distributed controller is robust to position measurement errors and the linear velocities of the robots can be restricted to specific bounded ranges. (C) 2012 Elsevier Ltd. All rights reserved.