Abstract
This paper studies the coordinated formation control of wheeled mobile robots (WMRs) with directed and switching communication topologies. In particular, together with the nonholonomic constraint, physical constraints on the velocity, acceleration and angular velocity are taken into account. Through dynamic feedback linearization, the kinematic model of each robot is transformed into a double-integrator subject to the physical constraints. Then, coordinated controllers with successive loops are developed for the formation control. The problem caused by the physical constraints is solved by introducing saturations to the control loops. It is proved that, each controlled WMR admits an invariant set property, and the formation control objective is achievable as long as a mild joint connectivity condition is satisfied by the communication topology.
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.
