Mechanical Engineering Commons^™

Formation Control Of Nonholonomic Multi-Agent Systems, Milad Khaledyan

LSU Doctoral Dissertations

This dissertation is concerned with the formation control problem of multiple agents modeled as nonholonomic wheeled mobile robots. Both kinematic and dynamic robot models are considered. Solutions are presented for a class of formation problems that include formation, maneuvering, and flocking. Graph theory and nonlinear systems theory are the key tools used in the design and stability analysis of the proposed control schemes. Simulation and/or experimental results are presented to illustrate the performance of the controllers.

In the first part, we present a leader-follower type solution to the formation maneuvering problem. The solution is based on the graph that models …