Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory |
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| Authors: | Zhaoxia Peng Guoguang Wen Ahmed Rahmani Yongguang Yu |
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| Affiliation: | 1. LAGIS UMR 8219 CNRS, Ecole Centrale de Lille, Villeneuve d’Ascq, Francezhaoxiapeng1986@gmail.com;3. Department of Mathematics, Beijing Jiaotong University, Beijing, PR China;4. LAGIS UMR 8219 CNRS, Ecole Centrale de Lille, Villeneuve d’Ascq, France |
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| Abstract: | In this paper, the distributed formation control problem for multiple nonholonomic mobile robots using consensus-based approach is considered. A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Distributed control laws are developed for achieving the formation control objectives: a group of nonholonomic mobile robots at least exponentially converge to a desired geometric pattern with its centroid moving along the specified reference trajectory. Rigorous proofs are provided by using graph, matrix , and Lyapunov theories. Simulations are also given to verify the effectiveness of the theoretical results. |
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| Keywords: | formation control consensus-based approach nonholonomic mobile robots Lyapunov stability graph theory |
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