Practical formation stabilization of nonholonomic mobile robots based on injecting perturbation signals

Author

Ke-cai Cao ; Mengjiao Lv ; Yang Wu

Author_Institution

Coll. of Autom., Nanjing Univ. of Posts & Telecommun., Nanjing, China

fYear

2014

fDate

28-30 July 2014

Firstpage

1276

Lastpage

1281

Abstract

Practical formation stabilization control problems of multiple nonholonomic mobile robots have been considered in this paper. Cascaded structure of nonholonomic mobile robot system has been incorporated in the design of formation controllers. Some external perturbing signals have been injected into the consensus protocols of each robot´s direction to overcome the uncontrollability of nonholonomic mobile robots when their reference target dose not satisfy the popular condition of persistent excitation. Simulation results using Matlab have illustrated the effectiveness of the formation stabilization controllers presented in this paper.

Keywords

control system synthesis; mobile robots; multi-robot systems; perturbation techniques; stability; Matlab; consensus protocols; external perturbing signals; formation controller design; injecting perturbation signals; nonholonomic mobile robot formation stabilization controllers; Control systems; Educational institutions; Mobile robots; Robot kinematics; Simulation; Topology; Noholonomic systems; Persistent excitation; Practical formation control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896812

Filename

6896812