Adaptive coordinated tracking control for multiple nonholonomic chained system with navigation method

In this paper, an adaptive coordinated tracking control problem for a group of nonholonomic chained systems has been discussed. Firstly, adaptive control gains are employed in the linear subsystem based on the state information of neighboring robots, thus the global information of the topology graph is not required to be known in the design of controllers. Furthermore, the back-stepping strategy is applied in the rest of chained-form subsystem such that the state of all robots converges to the desired reference trajectory. And then the connectivity maintenance for an initially connected communication graph is guaranteed by navigation function method. Finally, an application is introduced and the simulation results are given to show the validity of proposed theoretical results.

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