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- W4200111523 abstract "In this work, we report a novel controller to solve (globally) the position and orientation consensus-based formation problem of multiple nonholonomic vehicles modelled as differential drive robots affected by external disturbances. The controller has the structure of a simple to implement Proportional Integral Derivative (PID) scheme. In order to satisfy the well-known Brocket stabilisation theorem for nonholonomic systems, we also incorporate a time-varying persistency of excitation term in the angular velocity dynamics. Our proposal reports the first solution to the robust formation problem using a smooth time-varying controller. Simulations are shown to evidence the theoretical findings of this work." @default.
- W4200111523 created "2021-12-31" @default.
- W4200111523 creator A5019190125 @default.
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- W4200111523 date "2021-12-23" @default.
- W4200111523 modified "2023-10-17" @default.
- W4200111523 title "Robust PID consensus-based formation control of nonholonomic mobile robots affected by disturbances" @default.
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- W4200111523 doi "https://doi.org/10.1080/00207179.2021.2015541" @default.
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