Observer-Based Leader-Following Formation Control Using Onboard Sensor Information
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
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.
Formation control, leader-following control, nonlinear, observers, coordination
IdentifiersURN: urn:nbn:se:kth:diva-18083DOI: 10.1109/tro.2008.2006244ISI: 000262220900019ScopusID: 2-s2.0-58249143991OAI: oai:DiVA.org:kth-18083DiVA: diva2:336129
QC 201507272010-08-052010-08-052015-07-27Bibliographically approved