Abstract
This brief addresses the distributed estimator of each follower NMR, which uses its own information and the information of its neighboring NMRs, is designed to estimate the leader's states. By means of these estimates, a formation controller is proposed for the follower NMRs that are also required to track the leader NMR. Lyapunov function techniques are employed to analyze the distributed estimator as well as the formation controller. Simulation and experiment examples are presented to illustrate the theoretical results.
| Original language | English |
|---|---|
| Article number | 8999495 |
| Pages (from-to) | 3162-3166 |
| Journal | IEEE Transactions on Circuits and Systems II: Express Briefs |
| Volume | 67 |
| Issue number | 12 |
| Online published | 14 Feb 2020 |
| DOIs | |
| Publication status | Published - Dec 2020 |
Research Keywords
- distributed estimator
- formation control
- Lyapunov function
- Nonholonomic mobile robot
Fingerprint
Dive into the research topics of 'Formation Control of Nonholonomic Mobile Robots Using Distributed Estimators'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver