Path-Guided Finite-Time Formation Control of Nonholonomic Mobile Robots Based on an Extended State Observer

Path-Guided Finite-Time Formation Control of Nonholonomic Mobile Robots Based on an Extended State Observer

In this paper, we study the finite-time formation control problem of uncertain nonholonomic mobile robots following a parameterized path. A path-guided formation control scheme based on an extended state observer is proposed. To compensate for unmeasured velocities and disturbances simultaneously, a...

Full description

Bibliographic Details
Main Authors: Yanyan Fan, Zhenlin Jin, Xiaoyuan Luo, Shaobao Li, Baosu Guo
Format: Article
Language:English
Published: MDPI AG 2022-09-01
Series:Applied Sciences
Subjects:
nonholonomic mobile robot
finite-time convergence
formation control
path-guided
extended state observer
Online Access:https://www.mdpi.com/2076-3417/12/18/9281

Similar Items

Similar Items