Cao Ke-Cai, Jiang Bin, Yue Dong
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, 210003, PR China; College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023, PR China.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, 210003, PR China.
ISA Trans. 2017 Nov;71(Pt 1):161-169. doi: 10.1016/j.isatra.2017.06.028. Epub 2017 Jul 11.
Cooperative path following control problem of multiple nonholonomic mobile robots has been considered in this paper. Based on the framework of decomposition, the cooperative path following problem has been transformed into path following problem and cooperative control problem; Then cascaded theory of non-autonomous system has been employed in the design of controllers without resorting to feedback linearization. One time-varying coordinate transformation based on dilation has been introduced to solve the uncontrollable problem of nonholonomic robots when the whole group's reference converges to stationary point. Cooperative path following controllers for nonholonomic robots have been proposed under persistent reference or reference target that converges to stationary point respectively. Simulation results using Matlab have illustrated the effectiveness of the obtained theoretical results.
