Abstract
This brief investigates the problems of synchronization control for a group of multiple nonholonomic mobile robots. An integrated algorithm of a kinematic controller and a torque controller is proposed to solve synchronization tracking problem of multi-nonholonomic mobile robots based on backstepping technique, and its asymptotic stability is then guaranteed by the use of Lyapunov-like analysis. A distinctive feature of the proposed algorithm is to introduce the network topology with directed topology graph characterizing communication interaction among agents based on algebraic graph theory. An illustrate example and its simulation is finally provided to demonstrate the theoretical results.
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Acknowledgements
The paper is supported by the National Natural Science Foundation of China (Grant Nos. 11672169 and 51875331).
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Dai, L., Liu, L., Miao, Z., Zhou, J. (2019). Synchronization Control for Multiple Nonholonomic Mobile Robots. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 529. Springer, Singapore. https://doi.org/10.1007/978-981-13-2291-4_23
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DOI: https://doi.org/10.1007/978-981-13-2291-4_23
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