![](/images/graphics-bg.png)
Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics
Joint Authors
Yang, Shichun
Wen, Guoguang
Peng, Zhaoxia
Rahmani, Ahmed
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-05-03
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Peng, Zhaoxia& Yang, Shichun& Wen, Guoguang& Rahmani, Ahmed. 2014. Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-489119
Modern Language Association (MLA)
Peng, Zhaoxia…[et al.]. Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics. Mathematical Problems in Engineering No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-489119
American Medical Association (AMA)
Peng, Zhaoxia& Yang, Shichun& Wen, Guoguang& Rahmani, Ahmed. Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-489119
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-489119