Title: Leader–follower tracking control design for task-based missions

Authors: Elzbieta Jarzebowska

Addresses: Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, 00-665 Warsaw, Nowowiejska 24 str., Poland

Abstract: The paper develops a control theoretic leader-to-follower framework for performing task-based missions. It enables tracking trajectories and other task-based motions. Its modular architecture enables switching between controllers for a leader and followers as well as changing followers based on a specified mission. The framework is based on the model reference tracking control strategy for programmed motion. Initially, the strategy is developed for a single mobile robot. Its modular structure enables its extension to collaborating robots.

Keywords: nonholonomic systems tracking; leader–follower tracking; tracking control; nonholonomic systems; task-based missions; control design; trajectory tracking; model reference control; mobile robots; robot control; collaborating robots; robot cooperation; multiple robots.

DOI: 10.1504/IJVAS.2011.041385

International Journal of Vehicle Autonomous Systems, 2011 Vol.9 No.3/4, pp.203 - 218

Available online: 21 Jul 2011 *

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