English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper studies the tracking control problem for nonholonomic mobilerobots based on second order dynamics, with application to consensus trackingand formation tracking. The greatest novelty in this paper is that thereference trajectory can be arbitrarily chosen, in the sense that the conditionof persistency excitation and any other requirements are not imposed on theleader. In this paper, at first, the tracking control of one leader with singlefollower is taken into consideration, which is converted to the stabilizationof two relative subsystems by the design of an adjoint system. Then, the singlefollower tracking controller is extended to the consensus tracking of multiplenonholonomic mobile robots connected by a directed acyclic graph, in which theconvex combination in nonlinear manifolds is introduced to construct a virtualleader for each follower. Next, the relationship between consensus control andformation control is established for multiple nonholonomic mobile robots, withthe result that a new transformed system is constructed so as to obtain theformation tracking control strategy from the consensus tracking result.Finally, simulations are presented to verify the effectiveness of the controllaws.

Trajectory tracking control for nonholonomic mobile robots under arbitrary reference input