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Observer-Based Leader-Following Formation Control Using Onboard Sensor Information
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-0177-1993
2008 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, ISSN 1552-3098, Vol. 24, no 6, 1457-1462 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, leader-following formation control for mobile multiagent systems with limited sensor information is studied. The control algorithms developed require information available from onboard sensors only, and in particular, the measurement of the leader (neighbor) speed is not needed. Instead, an observer Is designed for the estimation of this speed, With the proposed control algorithms as building blocks, many complex formations can be obtained.

Place, publisher, year, edition, pages
2008. Vol. 24, no 6, 1457-1462 p.
Keyword [en]
Formation control, leader-following control, nonlinear, observers, coordination
National Category
Information Science
URN: urn:nbn:se:kth:diva-18083DOI: 10.1109/tro.2008.2006244ISI: 000262220900019ScopusID: 2-s2.0-58249143991OAI: diva2:336129

QC 20150727

Available from: 2010-08-05 Created: 2010-08-05 Last updated: 2015-07-27Bibliographically approved

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Hu, Xiaoming
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Optimization and Systems TheoryCentre for Autonomous Systems, CASACCESS Linnaeus Centre
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