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Nonholonomic wheeled mobile robot's posture error model denoted by Cartesian coordinates in local coordinates is established. A novel nonlinear state feedback trajectory tracking control law is proposed, which causes closed-loop system state space equation of robot to have isolated equilibrium state at origin. Through analysing the local uniform asymptotical stability at origin and the instability...
The state coordination between robots in a multi-robot system is a crucial problem. In order to have a proper relative position and orientation of robots in a moving multi-robot formation, a coordination method is presented by using discrete orientation bias control. A moving structure graph for the formation is pre-specified. Based on the graph, a model of the formation is defined by two new kinds...
A general control framework for a formation system composed of a team of nonholonomic wheeled mobile robots (WMRs) considering the formation dynamics under static connection structure but subject to dynamic connection stability is proposed in this paper. Hence, a rigorous formation theory is obtained essentially based on the differential structure of the formation system. With this result, a case...
The paper investigates the flocking behaviors of multi-agent formation in 3-dimensional space which are based on leader following. A class of decentralized control laws for a group of mobile agents are proposed under the conditions that the topology of the control interconnections is fixed and dynamically time-variant, respectively. These control laws are a combination of attractive/repulsive and...
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