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  • Distributed Formation Control of Nonholonomic Wheeled Mobile Robots Subject to Longitudinal Slippage Constraints

    Author(s)
    Wang, Zhuping
    Wang, Lei
    Zhang, Hao
    Vlacic, Ljubo
    Chen, Qijun
    Griffith University Author(s)
    Vlacic, Ljubo
    Year published
    2021
    Metadata
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    Abstract
    This paper investigates the distributed formation control problem of multiple nonholonomic wheeled mobile robots within real environments. The formation pattern of the system adopts leader-follower structure and the communication topology among the multirobot system is modeled by a directed graph. Slippage is hard to avoid due to the possible existence of ice, sand, or muddy roads. To overcome the effect of slippage, an adaptive trajectory tracking controller for leader robot is designed, such that the leader robot can keep up with the virtual reference trajectory and estimate the real value of unknown slipping ratio accurately. ...
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    This paper investigates the distributed formation control problem of multiple nonholonomic wheeled mobile robots within real environments. The formation pattern of the system adopts leader-follower structure and the communication topology among the multirobot system is modeled by a directed graph. Slippage is hard to avoid due to the possible existence of ice, sand, or muddy roads. To overcome the effect of slippage, an adaptive trajectory tracking controller for leader robot is designed, such that the leader robot can keep up with the virtual reference trajectory and estimate the real value of unknown slipping ratio accurately. In addition, it is difficult for each follower robot to obtain leader's states in a large formation system, so distributed formation controllers are designed based on distributed observers. It is shown that the proposed controllers can realize formation objective and overcome the slippage constraints at the same time. Finally, the effectiveness of the proposed controllers is verified by simulation results.
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    Journal Title
    IEEE Transactions on Systems, Man, and Cybernetics: Systems
    Volume
    51
    Issue
    5
    DOI
    https://doi.org/10.1109/TSMC.2019.2911975
    Subject
    Electrical engineering
    Mechanical engineering
    Science & Technology
    Automation & Control Systems
    Computer Science, Cybernetics
    Publication URI
    http://hdl.handle.net/10072/407805
    Collection
    • Journal articles

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