Leader-follower formation control of mobile nonholonomic robots via a new observer-based controller

Mohamed F. Hassan and Mohammad Hammuda

International Journal of Systems Science, 2020, vol. 51, issue 7, 1243-1265

Abstract: In this paper, a novel observer-based control approach is developed to handle leader-follower formation control of multiple nonholonomic mobile robots. Unlike other available techniques, the proposed formation control strategy can be implemented online without the need to pre-specify the trajectories to be tracked, but only the desired location at the next instant of time. Such an approach permits the system to track formation protocols made of multiple complicated trajectories, and allows the designer to change the trajectories on-line according to the surrounding environment. The estimation part of the proposed approach is conducted using the newly developed smoothed regularised least-squares observer. This observer provides highly accurate predicted state estimates that are essential in generating the desired control strategy. The stability of the proposed observer-based controller is analysed. Simulation results of a formation consisting of a leader and two followers are presented to show the effectiveness and applicability of the developed approach.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2020.1758233 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:51:y:2020:i:7:p:1243-1265

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2020.1758233

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().