@inproceedings{4b89f369d9724af1a453a54790f80eee,
title = "Smooth time-varying formation control of multiple nonholonomic agents",
abstract = "In this paper, we investigate the position/orientation formation problem of multiple nonholonomic agents. Coordinate transformations are first presented to obtain the matrix form of formation error model, then a distributed smooth time-varying control law is designed based on a Lyapunov-like function. We prove that the closed-formation-system is globally asymptotically stable by Barbalat{\textquoteright}s lemma if the communication graph is undirected, time-invariant and connected. Simulation results verify the effectiveness of the proposed control scheme.",
keywords = "Asymptotic formation, Cooperative control, Distributed control, Nonholonomic agents",
author = "Chenghui Yang and Wenjing Xie and Chen Lei and Baoli Ma",
note = "Publisher Copyright: {\textcopyright} Springer-Verlag Berlin Heidelberg 2016.; Chinese Intelligent Systems Conference, CISC 2015 ; Conference date: 01-01-2015",
year = "2016",
doi = "10.1007/978-3-662-48386-2\_30",
language = "英语",
isbn = "9783662483848",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "283--291",
editor = "Hongbo Li and Weicun Zhang and Yingmin Jia and Junping Du",
booktitle = "Proceedings of the 2015 Chinese Intelligent Systems Conference",
address = "德国",
}