Observer design via immersion and invariance for vision-based leader-follower formation control

DOI10.1016/j.automatica.2009.10.016zbMath1214.93011OpenAlexW2044687875MaRDI QIDQ985281

Fabio Morbidi, Domenico Prattichizzo, Gian Luca Mariottini

Publication date: 20 July 2010

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2009.10.016

zbMATH Keywords

observabilitynonlinear controlnonlinear observerautonomous mobile robotsformation control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Decentralized systems (93A14) Observability (93B07)

Related Items (7)

Tunnel passing maneuvers of prescribed formations ⋮ Robot formations using a single camera and entropy-based segmentation ⋮ Formation shape control based on bearing rigidity ⋮ Observer design via immersion and invariance for vision-based leader-follower formation control ⋮ Leader-follower formation control of nonholonomic mobile robots with bearing-only measurements ⋮ Leader-follower formation control without leader's velocity information ⋮ Adaptive image-based leader-follower approach of mobile robot with omnidirectional camera

Cites Work

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• Observer design via immersion and invariance for vision-based leader-follower formation control
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• Nonlinear controllability and observability
• Consensus and Cooperation in Networked Multi-Agent Systems
• An observer-controller combination for a unicycle mobile robot
• Cooperative Control of Multiple Nonholonomic Mobile Agents
• Invariant Manifold Based Reduced-Order Observer Design for Nonlinear Systems

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