Distributed Exponentially Tracking Control of Multiple Wheeled Mobile Robots

被引：0
|
作者：
Chen, Chunyu [1 ]
De La Torre, Felipe [1 ]
Dong, Wenjie [1 ]
机构：
[1] Univ Texas Pan Amer, Dept Elect Engn, Edinburg, TX 78541 USA
来源：
2014 AMERICAN CONTROL CONFERENCE (ACC) | 2014年
关键词：
DYNAMIC-SYSTEMS; CONSENSUS; INFORMATION; ALGORITHMS; LEADER;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a consensus problem is considered for leader-following of multiple wheeled mobile robots. Laplacian matrix is introduced to characterize the communication topology. Since there are parameter uncertainties for each mechanical system, adaptive control method is applied for controller design of the dynamical systems. Distributed adaptive state feedback control laws are presented with the aid of the agent's neighboring information. Simulation results are presented to validate the proposed control laws.
引用
收藏
页码：4014 / 4019
页数：6
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