Distributed formation control of nonholonomic mobile robots without global position measurements

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 y...

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Bibliographic Details
Published in:Automatica (Oxford) 2013-02, Vol.49 (2), p.592-600
Main Authors: Liu, Tengfei, Jiang, Zhong-Ping
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Computer systems and distributed systems. User interface
Control system synthesis
Control theory. Systems
Controllers
Distributed nonlinear control
Error analysis
Errors
Exact sciences and technology
Formation control
Input-to-output stability (IOS)
Mobile robots
Nonlinearity
Position measurement
Robot control
Robotics
Robots
Small-gain
Software
Trees
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Summary: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.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2012.11.031