Formation control of networked mobile robots with weighted directed topology using the Udwadia–Kalaba approach

Yijie Kang; Yuqing Hao; Qingyun Wang; Guanrong Chen

doi:10.1007/s11071-024-10502-4

Author(s)

Yijie Kang
Yuqing Hao
Qingyun Wang
Guanrong Chen

Related Research Unit(s)

Department of Electrical Engineering

Detail(s)

Original language	English
Pages (from-to)	5423–5438
Number of pages	16
Journal / Publication	Nonlinear Dynamics
Volume	113
Issue number	6
Online published	4 Nov 2024
Publication status	Published - Mar 2025

Link(s)

DOI	DOI https://doi.org/10.1007/s11071-024-10502-4 Final Published version
	Check@CityULib
Link to Scopus	https://www.scopus.com/record/display.uri?eid=2-s2.0-85208106776&origin=recordpage
Permanent Link	https://scholars.cityu.edu.hk/en/publications/publication(566a5aff-fa2f-4ff2-abdd-01f020348b46).html

Abstract

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.

Research Area(s)

Formation control, Trajectory analysis, Udwadia–Kalaba approach, Weighted directed topology

Citation Format(s)

[ RIS ] [ BibTeX ]

Formation control of networked mobile robots with weighted directed topology using the Udwadia–Kalaba approach. / Kang, Yijie; Hao, Yuqing; Wang, Qingyun et al.
In: Nonlinear Dynamics, Vol. 113, No. 6, 03.2025, p. 5423–5438.

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

Kang, Y, Hao, Y, Wang, Q & Chen, G 2025, 'Formation control of networked mobile robots with weighted directed topology using the Udwadia–Kalaba approach', Nonlinear Dynamics, vol. 113, no. 6, pp. 5423–5438. https://doi.org/10.1007/s11071-024-10502-4

Kang, Y., Hao, Y., Wang, Q., & Chen, G. (2025). Formation control of networked mobile robots with weighted directed topology using the Udwadia–Kalaba approach. Nonlinear Dynamics, 113(6), 5423–5438. https://doi.org/10.1007/s11071-024-10502-4

Kang Y, Hao Y, Wang Q, Chen G. Formation control of networked mobile robots with weighted directed topology using the Udwadia–Kalaba approach. Nonlinear Dynamics. 2025 Mar;113(6):5423–5438. Epub 2024 Nov 4. doi: 10.1007/s11071-024-10502-4

Kang, Yijie ; Hao, Yuqing ; Wang, Qingyun et al. / Formation control of networked mobile robots with weighted directed topology using the Udwadia–Kalaba approach. In: Nonlinear Dynamics. 2025 ; Vol. 113, No. 6. pp. 5423–5438.