Scholarlink

A hierarchical kinematic–dynamic anti-saturation formation control method is proposed in this chapter. At the kinematic level, a distributed control law based on nonholonomic constraints suppresses velocity and acceleration saturation. At the dynamic level, an adaptive saturation extended state observer compensates for lumped uncertainties. Simulations and experiments validate the effectiveness.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Unit Modality Formation Control Under Nested Motion Saturation

  • 章节

  • 发表日期：

    2025年

查看全文
  • Tao Jiang,
  • Zhi Zheng,
  • Lan Yao,
  • Jianchuan Ye,
  • Jianxiang Wang,
  • Jingxiang Feng

摘要

A hierarchical kinematic–dynamic anti-saturation formation control method is proposed in this chapter. At the kinematic level, a distributed control law based on nonholonomic constraints suppresses velocity and acceleration saturation. At the dynamic level, an adaptive saturation extended state observer compensates for lumped uncertainties. Simulations and experiments validate the effectiveness.