Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints

• Published in: IEEE/CAA journal of automatica sinica Vol. 9; no. 2; pp. 354 - 364
• Main Authors: Zhang, Hao, Sun, Jianwen, Wang, Zhuping
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.02.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Department of Control Science and Engineering,Tongji University, Shanghai 201804, China
• Subjects: Adaptive control; Control theory; Delays; distributed formation control; finite-time observer; Global positioning systems; GPS; Ice; multi-robot systems; Multiple robots; Observers; Position measurement; Roads; Robot control; Robots; Simulation; slippage; State observers; Topology; distributed formation control; multi-robot systems; finite-time observer; slippage; Adaptive control

This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints. It is difficult for robots to obtain accurate and stable global position information in many cases, such as when indoor...