Related Experiment Video
Updated: Aug 4, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Leader-following formation of switching multirobot systems via internal model
Xiaoli Wang1, Wei Ni, Xinsheng Wang
1School of Information and Electrical Engineering, Harbin Institute of Technology at Weihai, Weihai, China. xiaoliwang@amss.ac.cn
Abstract:
In this paper, the leader-following formation problem of multirobot systems with switching interconnection topologies is considered. The robots are required to move in a formation with formation constrains described in terms of relative distances of the robots and the formation (as whole entity) is required to track the trajectory generated by an exosystem. The exosystem of the considered multirobot systems provides driving forces or environmental disturbance, whose dynamics is different from the dynamics of the robots. A systematic distributed design approach for the leader-following formation problem is proposed via dynamic output feedback with the help of canonical internal model.
Related Concept Videos
Three-Dimensional Force System:Problem Solving
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
One-Degree-of-Freedom System
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
Hierarchy of Motor Control
Multi-input and Multi-variable systems
In the absence of...
Mechanistic Models: Overview of Compartment Models
Mechanistic Models: Compartment Models in Algorithms for Numerical Problem Solving
In individual population analyses, different algorithms are employed, such as Cauchy's method, which uses a...

