TY - GEN
T1 - Formation control of nonholonomic mobile robots
AU - Dong, W. J.
AU - Guo, Yi
AU - Farrell, J. A.
PY - 2006
Y1 - 2006
N2 - In this paper, formation control of a group of nonholonomic wheeled robots are considered. By introducing a unified error of the formation and trajectory tracking, state feedback control laws are proposed for formation control with a desired trajectory. Graph theory and Lyapunov theory are used in the control design. After that, by introducing observers, output feedback control laws are also proposed for the formation control. Simulation study shows the proposed controllers are effective.
AB - In this paper, formation control of a group of nonholonomic wheeled robots are considered. By introducing a unified error of the formation and trajectory tracking, state feedback control laws are proposed for formation control with a desired trajectory. Graph theory and Lyapunov theory are used in the control design. After that, by introducing observers, output feedback control laws are also proposed for the formation control. Simulation study shows the proposed controllers are effective.
UR - http://www.scopus.com/inward/record.url?scp=34047228029&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34047228029&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:34047228029
SN - 1424402107
SN - 9781424402106
T3 - Proceedings of the American Control Conference
SP - 5602
EP - 5607
BT - Proceedings of the 2006 American Control Conference
T2 - 2006 American Control Conference
Y2 - 14 June 2006 through 16 June 2006
ER -