Adaptive Distributed Dynamic Surface Formation Controller Design for Multi-Robot Systems

被引：0

作者：

Chang, Yeong-Hwa ^{[1
]}

Wu, Chun-I ^{[1
]}

Yang, Cheng-Yuan ^{[1
]}

Yang, Tsung-Hsun ^{[1
]}

机构：

[1] Chang Gung Univ, Dept Elect Engn, Taoyuan 333, Taiwan

来源：

2015 AMERICAN CONTROL CONFERENCE (ACC) | 2015年

关键词：

multi-robot system; formation control; dynamic surface design; adaptive control; NONHOLONOMIC MOBILE ROBOTS; MULTIAGENT SYSTEMS; CONSENSUS TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：38 / 43

页数：6

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