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

• Main Authors: Wang, Wei, Huang, Jiangshuai, Wen, Changyun, Fan, Huijin
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/101969; http://hdl.handle.net/10220/19833
• Institution: Nanyang Technological University

In this paper, we investigate the output consensus problem of tracking a desired trajectory for a class of systems consisting of multiple nonlinear subsystems with intrinsic mismatched unknown parameters. The subsystems are allowed to have non-identical dynamics, whereas with similar structures and...