Planned-trajectory-driven hierarchical formation tracking control of networked mobile robotic systems with three-dimensional output-mapping capability

2026-08-12

PRE

Kai-Lun Huang

梁

梁昌铎 (Chang‐Duo Liang) *

Xisheng Zhan

Qian Chen

葛

葛明峰 (Ming‐Feng Ge)

DOI：10.1016/j.cnsns.2026.110686

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• A planned-trajectory-driven hierarchical formation tracking framework is developed for NMRSs. • A DFLBD algorithm generates leader reference trajectories in unknown discrete environments. • A distributed observer propagates learned leader information over directed topologies. • A synthesis controller achieves nonholonomic SMV formation and 3-D manipulator output tracking.

Planned-trajectory-driven hierarchical formation tracking control of networked mobile robotic systems with three-dimensional output-mapping capability

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