TY - JOUR
T1 - Formation control of networked mobile robots with weighted directed topology using the Udwadia–Kalaba approach
AU - Kang, Yijie
AU - Hao, Yuqing
AU - Wang, Qingyun
AU - Chen, Guanrong
PY - 2025/3
Y1 - 2025/3
N2 - In this paper, the formation control of networked mobile robots is investigated by using the Udwadia–Kalaba approach. The communication topology is directed, weighted and has a spanning tree. By reformulating the control objective as a constrained equation, a formation controller is designed for the leaderless case. Moreover, the trajectories of the formation are rigorously analyzed. It is derived that there are three typical geometric patterns: a point, a straight line and a circle. Further, to satisfy requirements on the formation trajectories in practical applications, a formation controller is designed for the leader-following case. Finally, some numerical simulations are provided to illustrate the effectiveness of the proposed controllers. © The Author(s), under exclusive licence to Springer Nature B.V. 2024.
AB - In this paper, the formation control of networked mobile robots is investigated by using the Udwadia–Kalaba approach. The communication topology is directed, weighted and has a spanning tree. By reformulating the control objective as a constrained equation, a formation controller is designed for the leaderless case. Moreover, the trajectories of the formation are rigorously analyzed. It is derived that there are three typical geometric patterns: a point, a straight line and a circle. Further, to satisfy requirements on the formation trajectories in practical applications, a formation controller is designed for the leader-following case. Finally, some numerical simulations are provided to illustrate the effectiveness of the proposed controllers. © The Author(s), under exclusive licence to Springer Nature B.V. 2024.
KW - Formation control
KW - Trajectory analysis
KW - Udwadia–Kalaba approach
KW - Weighted directed topology
UR - http://www.scopus.com/inward/record.url?scp=85208106776&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85208106776&origin=recordpage
U2 - 10.1007/s11071-024-10502-4
DO - 10.1007/s11071-024-10502-4
M3 - RGC 21 - Publication in refereed journal
SN - 0924-090X
VL - 113
SP - 5423
EP - 5438
JO - Nonlinear Dynamics
JF - Nonlinear Dynamics
IS - 6
ER -