Abstract
This paper presents a distributed formation control scheme for multi-robot systems, where a set of dynamic equations of differential wheeled robots can be obtained from kinematics and dynamics analyses. Based on dynamic surface design techniques, the desired leader-follower formation control laws can be derived. It can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis. Finally, results of simulations and experiments verify that the desired formation pattern can be preserved for wheeled mobile robots with the presence of unknown uncertainties.
Original language | English |
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Title of host publication | ACC 2015 - 2015 American Control Conference |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 38-43 |
Number of pages | 6 |
ISBN (Electronic) | 9781479986842 |
DOIs | |
State | Published - 28 07 2015 |
Event | 2015 American Control Conference, ACC 2015 - Chicago, United States Duration: 01 07 2015 → 03 07 2015 |
Publication series
Name | Proceedings of the American Control Conference |
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Volume | 2015-July |
ISSN (Print) | 0743-1619 |
Conference
Conference | 2015 American Control Conference, ACC 2015 |
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Country/Territory | United States |
City | Chicago |
Period | 01/07/15 → 03/07/15 |
Bibliographical note
Publisher Copyright:© 2015 American Automatic Control Council.
Keywords
- adaptive control
- dynamic surface design
- formation control
- multi-robot system