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	Distributed adaptive coordinated tracking for coupled nonholonomic mobile robots
	Qiu, Yilong ; Chen, Fei ; Xiang, Linying ; Chen F(陈飞) ; Xiang LY(项林英)
	2014
关键词	Adaptive control systems Algorithms Multi agent systems System stability
英文摘要	Conference Name:26th Chinese Control and Decision Conference, CCDC 2014. Conference Address: Changsha, China. Time:May 31, 2014 - June 2, 2014.; In this paper, a coordinated tracking control problem is studied for coupled nonholonomic mobile robots with limited information of a reference trajectory. A distributed control law with adaptive time-varying gains is proposed to guarantee that the robots can form a prespecified geometric pattern while the centroid of the geometric pattern can track the reference signal. By designing the adaptive control gains, the control algorithm of this paper does not require the global knowledge of the upper bound on the leader's control input. The stability of the system is proved with the aid of Lyapunov techniques. Finally, a simulation example is presented to verify the theoretical results. ? 2014 IEEE.
语种	英语
出处	http://dx.doi.org/10.1109/CCDC.2014.6852154
出版者	IEEE Computer Society
内容类型	其他
源URL	[http://dspace.xmu.edu.cn/handle/2288/86917]
专题	信息技术－会议论文
推荐引用方式 GB/T 7714	Qiu, Yilong,Chen, Fei,Xiang, Linying,et al. Distributed adaptive coordinated tracking for coupled nonholonomic mobile robots. 2014-01-01.

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