Direct adaptive formation control of multiple mobile robots using hierarchical fuzzy systems

@article{Wu2010DirectAF,
  title={Direct adaptive formation control of multiple mobile robots using hierarchical fuzzy systems},
  author={Kong-Yi Wu and Wei Huo},
  journal={2010 8th World Congress on Intelligent Control and Automation},
  year={2010},
  pages={1386-1391}
}
  • Kong-Yi Wu, Wei Huo
  • Published 2010 in
    2010 8th World Congress on Intelligent Control…
The Leader/Follower formation control of mobile robots with uncertain dynamical models is investigated in this paper and adaptive shape tracking controller is developed for the follower. Firstly, a kinematic shape tracking controller is presented based on the formation equation, then the shape tracking error equation is derived with backstepping technology… CONTINUE READING