Adaptive distributed dynamic surface formation controller design for multi-robot systems

Yeong Hwa Chang, Chun I. Wu, Cheng Yuan Yang, Tsung Hsun Yang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

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 languageEnglish
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages38-43
Number of pages6
ISBN (Electronic)9781479986842
DOIs
StatePublished - 28 07 2015
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: 01 07 201503 07 2015

Publication series

NameProceedings of the American Control Conference
Volume2015-July
ISSN (Print)0743-1619

Conference

Conference2015 American Control Conference, ACC 2015
Country/TerritoryUnited States
CityChicago
Period01/07/1503/07/15

Bibliographical note

Publisher Copyright:
© 2015 American Automatic Control Council.

Keywords

  • adaptive control
  • dynamic surface design
  • formation control
  • multi-robot system

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