This paper presents the developed trajectory tracking controller for a formation of nonholonomic robots, which combines features from the leader-follower and virtual-structure approaches. The implemented decentralized control strategy allows the robots to be relatively independent and to switch easily between the executed individual tasks and the collective tasks. Convergence is thoroughly analyzed and guarantied using the Lyapunov approach.
CITATION STYLE
Shakev, N., Topalov, A. V., Ahmed, S. A., & Popov, V. L. (2019). A Stable Control Algorithm for Multi Robot Formation. In IOP Conference Series: Materials Science and Engineering (Vol. 618). Institute of Physics Publishing. https://doi.org/10.1088/1757-899X/618/1/012008
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