A virtual structure approach to formation control of unicycle mobile robots using mutual coupling
van den Broek, T.H.A.
van de Wouw, N.
In this article, the formation control problem for unicycle mobile robots is studied. A distributed virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness of the formation with respect to perturbations as compared to typical leader-follower approaches. The applicability of the proposed approach is shown in simulations and experiments with a group of wirelessly controlled mobile robots. © 2011 Copyright Taylor and Francis Group, LLC.
Mechatronics, Mechanics & Materials
To reference this document use:
IVS - Integrated Vehicle Safety
TS - Technical Sciences
stability of non-linear systems
International Journal of Control, 84 (11), 1886-1902