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

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  • Zhaoxia Peng
  • Shichun Yang
  • Guoguang Wen
  • Ahmed Rahmani

Abstract

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.

Suggested Citation

  • Zhaoxia Peng & Shichun Yang & Guoguang Wen & Ahmed Rahmani, 2014. "Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-12, May.
    • Handle: RePEc:hin:jnlmpe:670497
    DOI: 10.1155/2014/670497
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    Cited by:

    1. Zou, Ying & Deng, Chao & Dong, Lu & Ding, Lei & Lu, Ming, 2022. "Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with only position information of leader," Applied Mathematics and Computation, Elsevier, vol. 422(C).

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