Leader-Following Formation Control of Nonholonomic Mobile Robots With Velocity Observers

2020 ◽  
Vol 25 (4) ◽  
pp. 1747-1755
Author(s):  
Xinwu Liang ◽  
Hesheng Wang ◽  
Yun-Hui Liu ◽  
Zhe Liu ◽  
Weidong Chen
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Nonholonomic Mobile Robots ◽  
Leader Following

scholarly journals Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Caihong Zhang ◽  
Tairen Sun ◽  
Yongping Pan
Keyword(s):  
Neural Network ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Finite Time ◽  
Formation Control ◽  
Nonholonomic Mobile Robots ◽  
Control Laws ◽  
Leader Following ◽  
Simulation Results ◽  
Neural Network Observer

This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle) of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN) finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower robot to track the leader robot in the desired separation and bearing in finite time. The effectiveness of the proposed NN finite-time observer and the formation control laws are illustrated by both qualitative analysis and simulation results.

Formation Control and Trajectory Tracking of Nonholonomic Mobile Robots

2018 ◽  
Vol 26 (6) ◽  
pp. 2250-2258 ◽  
Author(s):  
Akshit Saradagi ◽  
Vijay Muralidharan ◽  
Vishaal Krishnan ◽  
Sandeep Menta ◽  
Arun D. Mahindrakar
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Nonholonomic Mobile Robots
Sign in / Sign up

Export Citation Format

Share Document