2014•Unpublished venueRequires access

Practical formation stabilization of nonholonomic mobile robots based on injecting perturbation signals

Kecai Cao, Lv Mengjiao, Yang Wu

Abstract

Practical formation stabilization control problems of multiple nonholonomic mobile robots have been considered in this paper. Cascaded structure of nonholonomic mobile robot system has been incorporated in the design of formation controllers. Some external perturbing signals have been injected into the consensus protocols of each robot's direction to overcome the uncontrollability of nonholonomic mobile robots when their reference target dose not satisfy the popular condition of persistent excitation. Simulation results using Matlab have illustrated the effectiveness of the formation stabilization controllers presented in this paper.

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Available abstract

Key concepts: Nonholonomic system, Mobile robot, Control theory (sociology), Robot, MATLAB, Control engineering, Computer science, Perturbation (astronomy)