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Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory

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  • Zhaoxia Peng
  • Guoguang Wen
  • Ahmed Rahmani
  • Yongguang Yu

Abstract

In this paper, the distributed formation control problem for multiple nonholonomic mobile robots using consensus-based approach is considered. A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Distributed control laws are developed for achieving the formation control objectives: a group of nonholonomic mobile robots at least exponentially converge to a desired geometric pattern with its centroid moving along the specified reference trajectory. Rigorous proofs are provided by using graph, matrix , and Lyapunov theories. Simulations are also given to verify the effectiveness of the theoretical results.

Suggested Citation

  • Zhaoxia Peng & Guoguang Wen & Ahmed Rahmani & Yongguang Yu, 2015. "Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(8), pages 1447-1457, June.
    • Handle: RePEc:taf:tsysxx:v:46:y:2015:i:8:p:1447-1457
    DOI: 10.1080/00207721.2013.822609
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    Cited by:

    1. S. Zeadally & J. Guerrero & J. Contreras, 2020. "A tutorial survey on vehicle-to-vehicle communications," Telecommunication Systems: Modelling, Analysis, Design and Management, Springer, vol. 73(3), pages 469-489, March.
    2. Rehan, Muhammad & Tufail, Muhammad & Hong, Keum-Shik, 2016. "Delay-range-dependent synchronization of drive and response systems under input delay and saturation," Chaos, Solitons & Fractals, Elsevier, vol. 87(C), pages 197-207.

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