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arXiv · 2310.07608

Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication

Bin Zhang·Hui Zhi·Jose Guadalupe Romero·David Navarro-Alarcon
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Abstract

In this paper, we propose a novel formation controller for nonholonomic agents to form general parametric curves. First, we derive a unified parametric representation for both open and closed curves. Then, a leader-follower formation controller is designed to form the parametric curves. We consider directed communications and constant input disturbances rejection in the controller design. Rigorous Lyapunov-based stability analysis proves the asymptotic stability of the proposed controller. Detailed numerical simulations and experimental studies are conducted to verify the performance of the proposed method.

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Bin Zhang, Hui Zhi, Jose Guadalupe Romero, David Navarro-Alarcon. 2023-10-11. Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication. https://arxiv.org/abs/2310.07608

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