Abstract
In this paper, the formation control of networked mobile robots is investigated by using the Udwadia–Kalaba approach. The communication topology is directed, weighted and has a spanning tree. By reformulating the control objective as a constrained equation, a formation controller is designed for the leaderless case. Moreover, the trajectories of the formation are rigorously analyzed. It is derived that there are three typical geometric patterns: a point, a straight line and a circle. Further, to satisfy requirements on the formation trajectories in practical applications, a formation controller is designed for the leader-following case. Finally, some numerical simulations are provided to illustrate the effectiveness of the proposed controllers.
| Original language | English |
|---|---|
| Pages (from-to) | 5423-5438 |
| Number of pages | 16 |
| Journal | Nonlinear Dynamics |
| Volume | 113 |
| Issue number | 6 |
| DOIs | |
| State | Published - Mar 2025 |
Keywords
- Formation control
- Trajectory analysis
- Udwadia–Kalaba approach
- Weighted directed topology
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