Title :
Vision-based range estimation via Immersion and Invariance for robot formation control
Author :
Morbidi, Fabio ; Mariottini, Gian Luca ; Prattichizzo, Domenico
Author_Institution :
Dipt. di Ing. dell´´Inf., Univ. of Siena, Siena
Abstract :
The paper introduces a new vision-based range estimator based upon the Immersion and Invariance (I&I) methodology, for leader-follower formation control. The proposed reduced-order nonlinear observer achieves global exponential convergence of the observation error to zero and it is extremely simple to implement and to tune. A Lyapunov analysis is provided to show the stability of the closed-loop system arising from the combination of the range estimator and an input-state feedback controller. Simulation experiments illustrate the theory and show the effectiveness of the proposed design.
Keywords :
Lyapunov methods; closed loop systems; mobile robots; multi-robot systems; nonlinear control systems; observers; reduced order systems; robot vision; state feedback; Lyapunov analysis; closed-loop system stability; global exponential convergence; immersion-invariance methodology; input-state feedback controller; leader-follower formation control; reduced-order nonlinear observer; robot formation control; vision-based range estimation; Automatic control; Control systems; Convergence; Design methodology; Nonlinear systems; Robot control; Robot kinematics; Robot vision systems; Robotics and automation; Stability analysis;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543257
