Fully distributed control for task-space formation tracking of nonlinear heterogeneous robotic systems

  • Xiang-Yu Yao
  • Hua-Feng DingEmail author
  • Ming-Feng GeEmail author
Original Paper


This paper studies task-space formation tracking problem of nonlinear heterogeneous robotic systems involving external disturbances, kinematic and dynamic uncertainties, where the cases with both single and multiple time-varying leaders are considered. To solve the aforementioned nonlinear control problem, several novel fully distributed control algorithms, in which no global information is employed, are developed for the nonlinear systems under directed communication topologies. Based on the proposed control algorithms, the control process is classified into two parts, namely the task-space formation tracking of master robots with a single leader and that of slave robots with multiple leaders. By invoking Barbalat’s lemma and input-to-state stability theory, the sufficient criteria for the asymptotic convergence of the task-space formation tracking errors are established. In addition, the obtained results are extended to formation-containment and consensus problems in similar nonlinear cases. Finally, numerical examples are provided to illustrate the validity and advantages of the main results.


Fully distributed control Nonlinear heterogeneous robotic systems (NHRSs) Multiple leaders Task-space formation tracking 



This work was supported in part by the National Natural Science Foundation of China under Grants 51675495 and 61703374 and the Fundamental Research Funds for the Central Universities, China University of Geosciences(Wuhan), under Grants CUG150609 and CUG170656.

Compliance with ethical standards

Conflict of interest

The authors declare that there is no conflict of interest.


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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.School of Mechanical Engineering and Electronic InformationChina University of GeosciencesWuhanChina

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