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dc.contributor.authorWang, Zhuping
dc.contributor.authorWang, Lei
dc.contributor.authorZhang, Hao
dc.contributor.authorVlacic, Ljubo
dc.contributor.authorChen, Qijun
dc.date.accessioned2021-09-08T23:52:23Z
dc.date.available2021-09-08T23:52:23Z
dc.date.issued2021
dc.identifier.issn2168-2216
dc.identifier.doi10.1109/TSMC.2019.2911975
dc.identifier.urihttp://hdl.handle.net/10072/407805
dc.description.abstractThis 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.
dc.description.peerreviewedYes
dc.languageEnglish
dc.publisherIEEE
dc.relation.ispartofpagefrom2992
dc.relation.ispartofpageto3003
dc.relation.ispartofissue5
dc.relation.ispartofjournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
dc.relation.ispartofvolume51
dc.subject.fieldofresearchElectrical engineering
dc.subject.fieldofresearchMechanical engineering
dc.subject.fieldofresearchcode4008
dc.subject.fieldofresearchcode4017
dc.subject.keywordsScience & Technology
dc.subject.keywordsAutomation & Control Systems
dc.subject.keywordsComputer Science, Cybernetics
dc.titleDistributed Formation Control of Nonholonomic Wheeled Mobile Robots Subject to Longitudinal Slippage Constraints
dc.typeJournal article
dc.type.descriptionC1 - Articles
dcterms.bibliographicCitationWang, Z; Wang, L; Zhang, H; Vlacic, L; Chen, Q, Distributed Formation Control of Nonholonomic Wheeled Mobile Robots Subject to Longitudinal Slippage Constraints, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021, 51 (5), pp. 2992-3003
dc.date.updated2021-09-08T23:33:47Z
gro.hasfulltextNo Full Text
gro.griffith.authorVlacic, Ljubo


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