Distributed observer-based cooperative control of multiple nonholonomic mobile agents

Wenjie Dong

International Journal of Systems Science, 2012, vol. 43, issue 5, 797-808

Abstract: In this article, cooperative output feedback control of a group of nonholonomic mobile agents is considered. Distributed observer-based cooperative control laws are proposed with the aid of Lyapunov techniques and results from graph theory. Robustness of the stability of the closed-loop systems with the proposed control laws is considered. The effectiveness of the proposed controllers is verified by simulation results.

Date: 2012
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DOI: 10.1080/00207721.2010.520096

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