期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 61, 期 9, 页码 988-996出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.robot.2013.05.004
关键词
Nonholonomic mobile robots; Leader-follower formation; Bioinspired neurodynamics; Tracking control; Backstepping technology
This paper investigates the leader-follower formation control problem for nonholonomic mobile robots based on a bioinspired neurodynamics based approach. The trajectory tracking control for a single nonholonomic mobile robot is extended to the formation control for multiple nonholonomic mobile robots based on the backstepping technique, in which the follower can track its real-time leader by the proposed kinematic controller. An auxiliary angular velocity control law is proposed to guarantee the global asymptotic stability of the followers and to further guarantee the local asymptotic stability of the entire formation. Also a bioinspired neurodynamics based approach is further developed to solve the impractical velocity jumps problem. The rigorous proofs are given by using Lyapunov theory. Simulations are also given to verify the effectiveness of the theoretical results. (C) 2013 Elsevier B.V. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据