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leaderfollowerformationcontrolwithoutleadersvelocityinformation
Shen Dongbin1; Sun Zhendong2; Sun Weijie1
2014
Source Publicationsciencechinainformationscience
ISSN1674-733X
Volume57Issue:9
AbstractIn this paper, we consider the mobile robots formation control problem without direct measurement of the leader robot's linear velocity. Two decentralized nonlinear algorithms are proposed, respectively, based on adaptive dynamic feedback and immersion Rz invariance estimation based second order sliding mode control methodologies. The main idea is to solve formation problem by estimating the leader robots's linear velocity, while maintaining the given predefined separation distance and bearing angle between the leader robot and the follower robot. The stability of the closed-loop system is proven by means of the Lyapunov method. The proposed controllers are smooth, continuous and robust against unknown bounded uncertainties such as sensor inaccuracy between the outputs of sensors and the true values in collision free environments. Simulation examples and physical vehicles experiments are presented to verify the effectiveness of the proposed design approaches, and the proposed designed methodologies are carefully compared to illustrate the pros and cons of the approaches.
Language英语
Funding Project[National Basic Research Program of China (973)] ; [National Natural Science Foundation of China]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/47432
Collection系统科学研究所
Affiliation1.华南理工大学
2.中国科学院数学与系统科学研究院
Recommended Citation
GB/T 7714
Shen Dongbin,Sun Zhendong,Sun Weijie. leaderfollowerformationcontrolwithoutleadersvelocityinformation[J]. sciencechinainformationscience,2014,57(9).
APA Shen Dongbin,Sun Zhendong,&Sun Weijie.(2014).leaderfollowerformationcontrolwithoutleadersvelocityinformation.sciencechinainformationscience,57(9).
MLA Shen Dongbin,et al."leaderfollowerformationcontrolwithoutleadersvelocityinformation".sciencechinainformationscience 57.9(2014).
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