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Formation control of multiple nonholonomic mobile robots based on cascade design

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1 Author(s)
Ke-Cai Cao ; Dept. of Autom. Control, Nanjing Univ. of Posts & Telecommun., Nanjing, China

Formation control of nonholonomic mobile robots is considered in this paper and decentralized linear controllers based on cascade design are proposed for a group of nonholonomic mobile robots. By using the theory of cascaded systems and cooperative control of linear agents, multiple nonholonomic robots' formation control problem is converted into multi-linear time-varying systems' stabilization problem. Linear decentralized cooperative controllers are brought out for the formation control problem when the reference targets satisfy the condition of persistent excitation which has relaxed the requirements on reference trajectory than those given in previous papers.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009