Velocity‐free formation control for omnidirectional mobile robots with input saturation

Abstract This paper presents a command‐filter‐based formation control scheme for the leader‐follower omnidirectional mobile robots (OMRs) subject to the absence of the velocity measurements, input saturation and unknown bounded disturbances. First, an adaptive velocity observer is designed based on...

Full description

Bibliographic Details

Published in:	IET Control Theory & Applications
Main Authors:	Yuxin Jia, Yingmin Jia, Kai Gong, Wenhao Zheng
Format:	Article
Language:	English
Published:	Wiley 2023-07-01
Subjects:	mobile robots motion control multi‐agent systems nonlinear filters
Online Access:	https://doi.org/10.1049/cth2.12455