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1 Electrical Engineering Department 2 L2S - Laboratoire des signaux et systèmes

Abstract : We solve the formation-tracking control problem for mobile robots via linear control. As in the classical tracking control problem for two nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely. Only one -leader- robot communicates with the reference vehicle and in turn, acts as a leader to a second robot hence forming a fixed spanning tree. We show that a simple condition on the reference angular velocity persistency of excitation suffices to achieve consensus tracking.





Autor: Janset Dasdemir - Antonio Loria -

Fuente: https://hal.archives-ouvertes.fr/



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