Paper ID: 2310.07608

Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication

Bin Zhang, Hui Zhi, Jose Guadalupe Romero, David Navarro-Alarcon

In this paper, we propose a novel formation controller for nonholonomic agents to form general parametric curves. First, we derive a unified parametric representation for both open and closed curves. Then, a leader-follower formation controller is designed to form the parametric curves. We consider directed communications and constant input disturbances rejection in the controller design. Rigorous Lyapunov-based stability analysis proves the asymptotic stability of the proposed controller. Detailed numerical simulations and experimental studies are conducted to verify the performance of the proposed method.

Submitted: Oct 11, 2023