This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.
Unified control solution for mobile robot formations
2021-06-15
1515782 byte
Conference paper
Electronic Resource
English
Adaptive control schemes for mobile robot formations with triangularised structures
BASE | 2010
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