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摘要
A rigid formation control problem with switching topology is studied in this paper. Then the nonsmooth analysis and nonlinear theory are employed to analyze the stability of the multi-robot formation system. By use of the navigation function method and the adaptive perturbation method, the proposed formation control law can guarantee the global stabilization of the rigid formation and the collision avoidance between communicating robots regardless of the topology switching, as long as the graph topology remains rigid all the time. The effectiveness of the proposed control strategy is verified by simulation examples.
