Practical Formation Tracking Control of Multiple Unicycle Robots

Practical Formation Tracking Control of Multiple Unicycle Robots

This note presents a distributed formation tracking scheme for multiple nonholonomic unicycle robots with any smooth reference trajectory, either feasible or non-feasible. The formation tracking problem is solved via a local tracking control law and a distributed virtual reference trajectory, conver...

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Bibliographic Details
Main Authors: Lixia Yan, Baoli Ma
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Formation tracking
unicycle robots
practical stabilization
transverse function
dynamic oscillator
Online Access:https://ieeexplore.ieee.org/document/8779639/

Internet

https://ieeexplore.ieee.org/document/8779639/

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