Abstract
In this work, we study the distributed cooperative control problem of multiple nonholonomic unicycle robots with a time-varying reference trajectory. Under the mild assumptions that the communication topology is bidirectional connected, the reference trajectory is bounded and known for at least one robot and the velocity of the reference trajectory is bounded but unknown for all robots, a novel distributed cooperative control protocol is proposed guaranteeing that all the robots follow the reference trajectory with an arbitrarily small ultimate tracking errors. Simulation examples are given to verify the proposed distributed cooperative scheme.
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Acknowledgements
This work was supported by National Nature Science Foundation of China (No. 61573034, No. 61327807), and Fundamental and Frontier Research Project of Chongqing (No. cstc2016jcyjA0404).
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Ma, B., Xie, W. (2019). Practical Distributed Cooperative Control of Multiple Nonholonomic Unicycle Robots. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 529. Springer, Singapore. https://doi.org/10.1007/978-981-13-2291-4_55
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DOI: https://doi.org/10.1007/978-981-13-2291-4_55
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