Velocity‐free formation control for omnidirectional mobile robots with input saturation

• Published in: IET control theory & applications Vol. 17; no. 10; pp. 1265 - 1282
• Main Authors: Jia, Yuxin, Jia, Yingmin, Gong, Kai, Zheng, Wenhao
• Format: Journal Article
• Language: English
• Published: Stevenage John Wiley & Sons, Inc 01.07.2023; Wiley
• Subjects: Communication; Compensators; Control theory; Controllers; Design; Disturbances; Errors; Filtration; mobile robots; motion control; multi‐agent systems; nonlinear filters; Robot control; Robots; Velocity

This paper presents a command‐filter‐based formation control scheme for the leader‐follower omnidirectional mobile robots (OMRs) subject to the absence of the velocity measurements, input saturation and unknown bounded disturbances. First, an adaptive velocity observer is designed based on a novel s...