Cascade-Based Distributed Estimator Tracking Control for Swarm of Multiple Nonholonomic Wheeled Mobile Robots via Leader–Follower Approach

Cascade-Based Distributed Estimator Tracking Control for Swarm of Multiple Nonholonomic Wheeled Mobile Robots via Leader–Follower Approach

This study aims to explore the tracking control challenge in a swarm of multiple nonholonomic wheeled mobile robots (NWMRs) by utilizing a distributed leader–follower strategy grounded in the cascade system theory. Firstly, the kinematic control law is developed for the leader by constructing a slid...

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Bibliographic Details
Main Authors: Dinesh Elayaperumal, Sachin Sakthi Kuppusami Sakthivel, Sathishkumar Moorthy, Sathiyamoorthi Arthanari, Young Hoon Joo, Jae Hoon Jeong
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Robotics
Subjects:
leader–follower formation
nonholonomic wheeled mobile robot (NWMR)
swarm robot
distributed estimators
cascade system
Online Access:https://www.mdpi.com/2218-6581/14/7/88
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