Formation control of nonholonomic mobile robots

W. J. Dong, Yi Guo, J. A. Farrell

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

30 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2006 American Control Conference
Pages5602-5607
Number of pages6
StatePublished - 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: 14 Jun 200616 Jun 2006

Publication series

NameProceedings of the American Control Conference
Volume2006
ISSN (Print)0743-1619

Conference

Conference2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN
Period14/06/0616/06/06

Fingerprint

Dive into the research topics of 'Formation control of nonholonomic mobile robots'. Together they form a unique fingerprint.

Cite this