A virtual structure approach to formation control of unicycle mobile robots using mutual coupling

DOI10.1080/00207179.2011.627686zbMath1236.93009OpenAlexW2157614425MaRDI QIDQ3119138

H. J. C. Huijberts, Anna D. Sadowska, Thijs van Den Broek, Dragan Kostić, Henk Nijmeijer, Nathan van de Wouw

Publication date: 7 March 2012

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2011.627686

zbMATH Keywords

roboticscooperative controlstability of nonlinear systems

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Decentralized systems (93A14) Robust stability (93D09) Artificial intelligence for robotics (68T40)

Related Items (15)

Rendezvous of multiple nonholonomic unicycles-based on backstepping ⋮ Coordinated tracking for multiple nonholonomic vehicles on SE(2) ⋮ Adaptive observer-based event-triggered finite time formation tracking for multi-agent systems with a non-cooperative leader ⋮ Network synchronization using invariant-manifold-based diffusive dynamic couplings with time-delay ⋮ Dual‐mode robust model predictive control for the tracking control of nonholonomic mobile robot ⋮ Motion coordination for a class of multi-agents via networked predictive control ⋮ Some Recent Results on Distributed Control of Nonlinear Systems ⋮ Self-triggered sliding mode control for distributed formation of multiple quadrotors ⋮ Distributed nonlinear control of mobile autonomous multi-agents ⋮ Distributed extremum seeking and formation control for nonholonomic mobile network ⋮ Logarithmic control, trajectory tracking, and formation for nonholonomic vehicles on Lie group SE(2) ⋮ Practical constrained output feedback formation control of underactuated vehicles via the autonomous dynamic logic guidance ⋮ Network synchronization of time-delayed coupled nonlinear systems using predictor-based diffusive dynamic couplings ⋮ Robust formation tracking control of mobile robots via one-to-one time-varying communication ⋮ An improved PSO-based approach with dynamic parameter tuning for cooperative multi-robot target searching in complex unknown environments

Cites Work

• On global uniform asymptotic stability of nonlinear time-varying systems in cascade
• Tracking control of mobile robots: A case study in backstepping
• Leader-follower formation control of nonholonomic mobile robots with input constraints
• Decentralized Cooperative Object Transportation by Multiple Mobile Robots with a Pushing Leader
• Exponential stabilization of nonholonomic chained systems
• Flatness and defect of non-linear systems: introductory theory and examples

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