基于反步法的多移载工装协同作业编队控制策略
刘禹铭, 赵勇, 董正建, 王平, 姬煜琦

Formation Control Strategy of Multiple Mobile Robots Cooperative Operation Based on Backstepping Method
LIU Yuming, ZHAO Yong, DONG Zhengjian, WANG Ping, JI Yuqi
图19 跟随者理想运动轨迹设计
Fig.19 Ideal movement trajectory design of follower