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  Fixed-time formation tracking for multiple nonholonomic wheeled mobile robots based on distributed observer

Sun, F., Li, H., Zhu, W., Kurths, J. (2021): Fixed-time formation tracking for multiple nonholonomic wheeled mobile robots based on distributed observer. - Nonlinear Dynamics, 106, 4, 3331-3349.
https://doi.org/10.1007/s11071-021-06946-7

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 Urheber:
Sun, Fenglan1, Autor              
Li, Hao2, Autor
Zhu, Wei2, Autor
Kurths, Jürgen1, Autor              
Affiliations:
1Potsdam Institute for Climate Impact Research, ou_persistent13              
2External Organizations, ou_persistent22              

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 Zusammenfassung: This paper studies the distributed fixed-time formation tracking problem of multiple nonholonomic wheeled mobile robots system over directed fixed and switching topologies. Through a classical nonlinear transformation, the formation control problem is transformed into a consensus problem. New control protocols based on a distributed observer are proposed. The directed communication topology between multiple nonholonomic wheeled mobile robots is considered. Some sufficient conditions of multiple robots achieving the desired formation shape are given. All follower robots can form the desired formation shape within a fixed settling time and make the leader in the geometric center of the formation. By adopting graph theory and fixed-time stability theory, an upper bound of settling time that is independent of the system’s initial states is obtained. Finally, two examples are presented to illustrate the correctness of the main results.

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 Datum: 2021-09-272021-10-11
 Publikationsstatus: Final veröffentlicht
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 Ort, Verlag, Ausgabe: -
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 Art der Begutachtung: Expertenbegutachtung
 Identifikatoren: DOI: 10.1007/s11071-021-06946-7
MDB-ID: No data to archive
PIKDOMAIN: RD4 - Complexity Science
Organisational keyword: RD4 - Complexity Science
Research topic keyword: Complex Networks
Research topic keyword: Nonlinear Dynamics
Model / method: Machine Learning
Model / method: Nonlinear Data Analysis
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Titel: Nonlinear Dynamics
Genre der Quelle: Zeitschrift, SCI, Scopus
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Ort, Verlag, Ausgabe: -
Seiten: - Band / Heft: 106 (4) Artikelnummer: - Start- / Endseite: 3331 - 3349 Identifikator: CoNE: https://publications.pik-potsdam.de/cone/journals/resource/nonlinear-dynamics
Publisher: Springer