Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication
Multiagent Systems
2023-10-12 v1 Robotics
Systems and Control
Systems and Control
Abstract
In this paper, we propose a novel formation controller for nonholonomic agents to form general parametric curves. First, we derive a unified parametric representation for both open and closed curves. Then, a leader-follower formation controller is designed to form the parametric curves. We consider directed communications and constant input disturbances rejection in the controller design. Rigorous Lyapunov-based stability analysis proves the asymptotic stability of the proposed controller. Detailed numerical simulations and experimental studies are conducted to verify the performance of the proposed method.
Keywords
Cite
@article{arxiv.2310.07608,
title = {Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication},
author = {Bin Zhang and Hui Zhi and Jose Guadalupe Romero and David Navarro-Alarcon},
journal= {arXiv preprint arXiv:2310.07608},
year = {2023}
}
Comments
6 pages, 6 figures