Title :
Control design for flexible hierarchical formation of multiple robots
Author :
Tang, Yutao ; Hong, Yiguang
Author_Institution :
Key Lab. of Syst. & Control, Beijing, China
Abstract :
In this paper, we consider flexible formation and related control design of multi-robot systems. A hierarchical structure is provided for flexible formation of unicycle robots. With the virtual hierarchy defined in light of interconnection graphs, the formation and related parameters can be changed in different levels of the whole structure. The formation control design is given from a leader-following viewpoint. Stability analysis is also provided after that.
Keywords :
control system synthesis; graph theory; hierarchical systems; interconnected systems; mobile robots; multi-robot systems; position control; stability; flexible hierarchical formation; formation control design; formation parameters; hierarchical structure; interconnection graph; leader-following viewpoint; multiple robots; multirobot system; stability analysis; unicycle robots; virtual hierarchy; Control design; Multirobot systems; Robot kinematics; Shape; Trajectory; Vectors; Multi-robot systems; flexible formation; hierarchical product graph; nonholonomic control;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6359070
