"In this thesis, the framework developed to control a single nonholonomic mobile robot is expanded to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers typically found in literature"--Abstract, page iv.
Sarangapani, Jagannathan, 1965-
Smith, Scott C.
Erickson, Kelvin T.
Electrical and Computer Engineering
M.S. in Electrical Engineering
United States. Department of Education. Graduate Assistance in Areas of National Need
University of Missouri--Rolla
Journal article titles appearing in thesis/dissertation
- Control of nonholonomic mobile robot formations: backstepping kinematics into dynamics
- Neural network control of nonholonomic mobile robot formations
xi, 95 pages
© 2007 Travis Dierks, All rights reserved.
Thesis - Open Access
Mobile robots -- Design and construction
Nonholonomic dynamical systems
Robots -- Control systems
Print OCLC #
Electronic OCLC #
Link to Catalog Record
Dierks, Travis Alan, "Nonlinear control of nonholonomic mobile robot formations" (2007). Masters Theses. 4562.