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• W2735860135 abstract "We propose a δ-persistently exciting controller [17] for leader-follower agreement control of a group of non-holonomic mobile robots, under the assumption that the virtual-leader velocities converge to zero. We assume that each of the vehicles in the formation communicates only with one leader and one, or several followers hence, that is, they form a spanning-tree communication topology rooted at the virtual leader. The control is decentralized and guarantees the convergence of the error coordinate of each agent, relatively to its neighbor. More significantly, our proofs are based on Lyapunov's direct method that is, we provide strict Lyapunov functions to guarantee strong integral input-to-state stability with respect to the reference velocities and, hence, uniform global asymptotic stability of the closed-loop system provided that the reference velocities are integrable." @default.
• W2735860135 created "2017-07-21" @default.
• W2735860135 creator A5010463609 @default.
• W2735860135 creator A5036042991 @default.
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• W2735860135 date "2017-05-01" @default.
• W2735860135 modified "2023-10-12" @default.
• W2735860135 title "A robust δ-persistently exciting controller for formation-agreement stabilization of multiple mobile robots" @default.
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• W2735860135 doi "https://doi.org/10.23919/acc.2017.7963062" @default.
• W2735860135 hasPublicationYear "2017" @default.
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