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http://dx.doi.org/10.5370/KIEE.2011.60.8.1592

Leader-following Approach Based Adaptive Formation Control for Mobile Robots with Unknown Parameters  

Moon, Ssurey (삼성 탈레스)
Park, Bong-Seok (연세대 공대 전기전자공학과)
Choi, Yoon-Ho (경기대 공대 전자공학과)
Park, Jin-Bae (연세대 전기전자공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.60, no.8, 2011 , pp. 1592-1598 More about this Journal
Abstract
In this paper, a formation control method based on the leader-following approach for nonholonomic mobile robots is proposed. In the previous works, it is assumed that the followers know the leader's velocity by means of communication. However, it is difficult that the followers correctly know the leader's velocity due to the contamination or delay of information. Thus, in this paper, an adaptive approach based on the parameter projection algorithm is proposed to estimate the leader's velocity. Moreover, the adaptive backstepping technique is used to compensate the effects of a dynamic model with the unknown time-invariant and time-varying parameters. From the Lyapunov stability theory, it is proved that the errors of the closed-loop system are uniformly ultimately bounded. Simulation results illustrate the effectiveness of the proposed control method.
Keywords
Adaptive formation control; Leader-following approach; Time-varying parameters; Projection algorithm; Backstepping technique;
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