A nonlinear small-gain approach to distributed formation control of nonholonomic mobile robots

Tengfei Liu, Zhong Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a new nonlinear design method for distributed leader-following formation control of unicycle robots. 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 controller, the formation control objective can be achieved without assuming any tree sensing structures or global position measurements. More interestingly, the linear velocities of the robots can be restricted to specific bounded ranges.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
Pages3051-3056
Number of pages6
StatePublished - 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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