Distributed adaptive coordinated tracking for coupled non-holonomic mobile robots

CORC > 厦门大学 > 信息技术－已发表论文

	Distributed adaptive coordinated tracking for coupled non-holonomic mobile robots
	Qiu, Yilong ; Xiang, Linying ; Xiang LY(项林英)
刊名	http://dx.doi.org/10.1049/iet-cta.2014.0099
	2014
关键词	Algorithms Mobile robots Navigation
英文摘要	In this study, a coordinated tracking control problem is studied for coupled non-holonomic mobile robots with limited information of a reference trajectory. A distributed control law with adaptive time-varying gains is proposed to guarantee that the robots can form a prespecified geometric pattern while the centroid of the geometric pattern can track the reference signal. By designing the adaptive control gains, the control algorithm of this paper does not require the global knowledge of the upper bound of the leader's control input. Both continuous and discontinuous adaptive protocols are proposed in this study. Finally, simulation examples are presented to verify the theoretical results.
语种	英语
出版者	Institution of Engineering and Technology
内容类型	期刊论文
源URL	[http://dspace.xmu.edu.cn/handle/2288/92998]
专题	信息技术－已发表论文
推荐引用方式 GB/T 7714	Qiu, Yilong,Xiang, Linying,Xiang LY. Distributed adaptive coordinated tracking for coupled non-holonomic mobile robots[J]. http://dx.doi.org/10.1049/iet-cta.2014.0099,2014.
APA	Qiu, Yilong,Xiang, Linying,&项林英.(2014).Distributed adaptive coordinated tracking for coupled non-holonomic mobile robots.http://dx.doi.org/10.1049/iet-cta.2014.0099.
MLA	Qiu, Yilong,et al."Distributed adaptive coordinated tracking for coupled non-holonomic mobile robots".http://dx.doi.org/10.1049/iet-cta.2014.0099 (2014).