Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume 41, Issue 2, Pages 414-424Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2010.2056917
Keywords
Backstepping; decentralized control; flocking; formation control; nonlinear control; wheeled mobile robots
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This paper considers the flocking of multiple non-holonomic wheeled mobile robots. Distributed controllers are proposed with the aid of backstepping techniques, results from graph theory, and singular perturbation theory. The proposed controllers can make the states of a group of robots converge to a desired geometric pattern whose centroid moves along a desired trajectory under the condition that the desired trajectory is available to a portion of the group of robots. Since communication delay is inevitable in distributed control, its effect on the performance of the closed-loop systems is analyzed. It is shown that the proposed controllers work well if communication delays are constant. To show effectiveness of the proposed controllers, simulation results are included.
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