leaderfollowerformationcontrolwithoutleadersvelocityinformation

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	leaderfollowerformationcontrolwithoutleadersvelocityinformation
	Shen Dongbin 2; Sun Zhendong1 ; Sun Weijie 2
刊名	sciencechinainformationscience
	2014
卷号	57 期号:9
ISSN号	1674-733X
英文摘要	In 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.
资助项目	[National Basic Research Program of China (973)] ; [National Natural Science Foundation of China]
语种	英语
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/47431]
专题	系统科学研究所
作者单位	1.中国科学院数学与系统科学研究院 2.华南理工大学
推荐引用方式 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).