Инд. авторы:	Zolotukhin Y.N., Kotov K.Y., Mal'tsev A.S., Nesterov A.A., Sobolev M.A., Filippov M.N., Yan A.P.
Заглавие:	Robust Leader-Follower Formation Control of Mobile Robots by the Structural Synthesis Method
Библ. ссылка:	Zolotukhin Y.N., Kotov K.Y., Mal'tsev A.S., Nesterov A.A., Sobolev M.A., Filippov M.N., Yan A.P. Robust Leader-Follower Formation Control of Mobile Robots by the Structural Synthesis Method // Optoelectronics, Instrumentation and Data Processing. - 2015. - Vol.51. - Iss. 5. - P.496-504. - ISSN 8756-6990. - EISSN 1934-7944.
Внешние системы:	DOI: 10.3103/S875669901505009X; SCOPUS: 2-s2.0-84949228504; WoS: 000421011800009;
Реферат:	eng: A problem of control of the motion of mobile robots with a differential drive in a leader-follower formation is considered. The proposed method of structural synthesis allow one to form control inputs for robots-followers only on the basis of information about the relative positions of the followers and the leader without using the absolute values of the spatial coordinates of the robots. The algorithm efficiency is confirmed by results of numerical experiments.
Ключевые слова:	forced motion; structural synthesis of automated control systems; control of a formation of mobile robots; leader-follower formation;
Издано:	2015
Физ. характеристика:	с.496-504