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Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots

โœ Scribed by Wang, Wei; Huang, Jiangshuai; Wen, Changyun; Fan, Huijin


Book ID
121807208
Publisher
Elsevier Science
Year
2014
Tongue
English
Weight
947 KB
Volume
50
Category
Article
ISSN
0005-1098

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Robust tracking control of nonholonomic
โœ Markus Mauder ๐Ÿ“‚ Article ๐Ÿ“… 2008 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 896 KB

A tracking controller for nonholonomic dynamic systems is proposed which allows global tracking of arbitrary reference trajectories and renders the closed loop system robust with respect to bounded disturbances. The controller is based on [Chwa, D. (2004). Sliding-mode tracking control of nonholonom