Distributed Observer-Based Adaptive Trajectory Tracking and Formation Control for the Swarm of Nonholonomic Mobile Robots with Unknown Wheel Slippage

Nonholonomoic mobile robots (NMRs) are widely used in logistics transportation and industrial production, with motion control remaining a key focus in current WMR research. However, most previously developed controllers assume ideal conditions without considering motion slippage. Neglecting slippage...

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Bibliographic Details
Published in:Mathematics
Main Authors: Sathishkumar Moorthy, Sachin Sakthi Kuppusami Sakthivel, Young Hoon Joo, Jae Hoon Jeong
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Subjects:
multi-robot system
leader-following
distributed observer
trajectory tracking
slippage
formation control
Online Access:https://www.mdpi.com/2227-7390/13/10/1628

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https://www.mdpi.com/2227-7390/13/10/1628

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