TY - GEN
T1 - A nonlinear small-gain approach to distributed formation control of nonholonomic mobile robots
AU - Liu, Tengfei
AU - Jiang, Zhong Ping
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:84883515072
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 3051
EP - 3056
BT - 2013 American Control Conference, ACC 2013
T2 - 2013 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -