Distributed observer-based cooperative control of multiple nonholonomic mobile agents

摘要

In this article, cooperative output feedback control of a group of nonholonomic mobile agents is considered. Distributed observer-based cooperative control laws are proposed with the aid of Lyapunov techniques and results from graph theory. Robustness of the stability of the closed-loop systems with the proposed control laws is considered. The effectiveness of the proposed controllers is verified by simulation results.