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

Bin Zhang, Hui Zhi, Jose Guadalupe Romero, David Navarro-Alarcon
10/11/2023
cs.MAcs.ROeess.SY

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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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Cite this paper

@article{zhang2023leaderfollower,
  title  = {Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication},
  author = {Bin Zhang and Hui Zhi and Jose Guadalupe Romero and David Navarro-Alarcon},
  year   = {2023},
  eprint = {2310.07608},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2310.07608v1}
}

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