Abstract
The adaptive synchronized formation control problem of multiple mobile robots is studied in this paper. The communication constraints, including time-varying delays and data sampling, are considered in problem formulation and system design. Furthermore, the parameter uncertainties in system dynamics have also been taken into account and an adaptive formation controller is presented which enables the robot network to achieve the synchronized formation task adaptively. Convergence analyses of the proposed method are presented and several useful properties are provided. Simulation results validate the effectiveness of the proposed adaptive synchronized formation control approach.
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