Tracking control of mobile robots: a case study in backstepping
Automatica (Journal of IFAC)
Comments on integral variants of ISS
Systems & Control Letters
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Nonlinear Control of Wheeled Mobile Robots
Nonlinear Control of Wheeled Mobile Robots
State Agreement for Continuous-Time Coupled Nonlinear Systems
SIAM Journal on Control and Optimization
Passivity-based designs for synchronized path-following
Automatica (Journal of IFAC)
Input-to-state stability and interconnections of discontinuous dynamical systems
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Coordinated Path-Following in the Presence of Communication Losses and Time Delays
SIAM Journal on Control and Optimization
Stabilization of sets with application to multi-vehicle coordinated motion
Automatica (Journal of IFAC)
Lyapunov formulation of ISS cyclic-small-gain in continuous-time dynamical networks
Automatica (Journal of IFAC)
| Hi-index | 22.14 |
This paper proposes a new class of distributed nonlinear controllers for leader-following formation control of unicycle robots without global position measurements. Nonlinear small-gain design methods are used to deal with the problem caused by the nonholonomic constraint of the unicycle robot and yield simple conditions for practical implementation. With the proposed distributed controllers, the formation control objective can be achieved without assuming any tree sensing structures. More interestingly, the distributed controller is robust to position measurement errors and the linear velocities of the robots can be restricted to specific bounded ranges.