Abstract
This paper presents a comparative study and the experimental implementation of different path tracking control laws for the formation of a group of nonholonomic mobile robots. By introducing a unified error of the formation and trajectory tracking using: the dynamic feedback linearization control [1], dynamic-static feedback linearization control [2], and nonlinear time-invariant control [3] are compared. The simulations results show that the dynamic-static feedback linearization technique presents a stable tracking with smoother behaviour and avoiding discontinuities for tracking trajectory of the robot leader. Finally, this method was implemented experimentally in three different paths, forming a simple triangle with three mobile robots in a leader-follower type motion. Moreover, the analysis in this paper reveals some important issues raising that the controllers developed on this system can be extended to underactuated UAVs in future work.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
