Document Zbl 1525.93203

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J. Robust Nonlinear Control</a> <a href="/?q=in%3A503765" title="Articles in this Issue">30, No. 17, 7216-7237 (2020)</a>. </div> <div class="abstract">Summary: This article investigates the leader-following formation control of multiple uncertain nonholonomic wheeled mobile robots. The leader trajectory can be any sufficiently smooth signal, either feasible or nonfeasible. This includes but not limited to a fixed point, a trimming trajectory, and the one that does not satisfy the nonholonomic constraint as robots in question do. To compensate for the effects that only a subset of follower robots has connected to the leader, we develop a distributed observer to estimate the leader’s position and velocities. Using leader’s estimated states, we convert formation errors into an augmented system with external oscillator states, which introduce an additional control variable and overcome the difficulties caused by underactuation. Subsequently, an adaptive tracking control law dealing with model uncertainties and stabilizing the augmented system is proposed, ensuring that formation errors are globally uniformly ultimately convergent to arbitrarily small balls near the origin. Simulation results are performed to validate the proposed control design.<br class="zbmathjax-paragraph">{© 2020 John Wiley & Sons Ltd}</div> <div class="clear"></div> <br> <div class="citations"><div class="clear"><a href="/?q=rf%3A7757404">Cited in <strong>7</strong> Documents</a></div></div> <div class="classification"> <h3>MSC:</h3> <table><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C40" title="MSC2020">93C40</a> </td> <td class="space"> Adaptive control/observation systems </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93A13" title="MSC2020">93A13</a> </td> <td class="space"> Hierarchical systems </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93A16" title="MSC2020">93A16</a> </td> <td class="space"> Multi-agent systems </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C85" title="MSC2020">93C85</a> </td> <td class="space"> Automated systems (robots, etc.) in control theory </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A70F25" title="MSC2020">70F25</a> </td> <td class="space"> Nonholonomic systems related to the dynamics of a system of particles </td> </tr></table> </div><div class="keywords"> <h3>Keywords:</h3><a href="/?q=ut%3Aadaptive+tracking">adaptive tracking</a>; <a href="/?q=ut%3Adistributed+formation+control">distributed formation control</a>; <a href="/?q=ut%3Adynamic+oscillator">dynamic oscillator</a></div>  <div class="modal fade" id="metadataModal" tabindex="-1" role="dialog" aria-labelledby="myModalLabel"> <div class="modal-dialog" role="document"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> <h4 class="modal-title" id="myModalLabel">Cite</h4> </div> <div class="modal-body"> <div class="form-group"> <label for="select-output" class="control-label">Format</label> <select id="select-output" class="form-control" aria-label="Select Metadata format"></select> </div> <div class="form-group"> <label for="metadataText" class="control-label">Result</label> <textarea class="form-control" id="metadataText" rows="10" style="min-width: 100%;max-width: 100%"></textarea> </div> <div id="metadata-alert" class="alert alert-danger" role="alert" style="display: none;">  </div> </div> <div class="modal-footer"> <button type="button" class="btn btn-primary" onclick="copyMetadata()">Copy to clipboard</button> <button type="button" class="btn btn-default" data-dismiss="modal">Close</button> </div> </div> </div> </div> <div class="functions clearfix"> <div class="function">  <a type="button" class="btn btn-default btn-xs pdf" data-toggle="modal" data-target="#metadataModal" data-itemtype="Zbl" data-itemname="Zbl 1525.93203" data-ciurl="/ci/07757404" data-biburl="/bibtex/07757404.bib" data-amsurl="/amsrefs/07757404.bib" data-xmlurl="/xml/07757404.xml" > Cite </a> <a class="btn btn-default btn-xs pdf" data-container="body" type="button" href="/pdf/07757404.pdf" title="Zbl 1525.93203 as PDF">Review PDF</a> </div> <div class="fulltexts"> <span class="fulltext">Full Text:</span> <a class="btn btn-default btn-xs" type="button" href="https://doi.org/10.1002/rnc.5165" aria-label="DOI for “Adaptive practical leader-following formation control of multiple nonholonomic wheeled mobile robots”" title="10.1002/rnc.5165">DOI</a> </div> <div class="sfx" style="float: right;"> </div> </div> <div class="references"> <h3>References:</h3> <table><tr> <td>[1]</td> <td class="space">Oh, KK; 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