کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5002347 | 1368452 | 2016 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Lyapunov-based formation-tracking control of nonholonomic systems under persistency of excitation
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
We present a smooth nonlinear time-varying controller for leader-follower tracking of non-holonomic mobile robots. Our design relies upon the standing assumption that either the rotational or the translational reference velocity is persistently exciting. Then, we extend our results to cover the problem of formation tracking for a swarm of vehicles interconnected under a spanning tree communication topology rooted at the virtual leader. In this case, we propose a simple distributed control law that establishes the convergence of the error coordinate of each agent, relatively to its neighbourhood, under the same condition of persistency of excitation. In addition, our proofs are based on Lyapunov's second method, that is, we provide a strict Lyapunov function.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 49, Issue 18, 2016, Pages 404-409
Journal: IFAC-PapersOnLine - Volume 49, Issue 18, 2016, Pages 404-409
نویسندگان
Mohamed Maghenem, Antonio LorÃa, Elena Panteley,