Title :
Adaptive formation control of dynamic nonholonomic systems using potential functions
Author :
Gouvea, J.A. ; Pereira, A.R. ; Liu Hsu ; Lizarralde, F.
Author_Institution :
Dept. of Control & Autom. Eng., Centro Fed. de Educ. Tecnol., Rio de Janeiro, Brazil
fDate :
June 30 2010-July 2 2010
Abstract :
In this paper an adaptive formation control for nonholonomic mobile robots with unknown dynamic parameters is proposed. The control scheme is based on a saturated artificial potential function which allows a decentralized formation control design including collision avoidance. For each agent, a cascaded control strategy combines an adaptive motion controller which takes into account its uncertain nonlinear dynamic, and a kinematic control, leading to an overall globally stable adaptive system. The proposed control strategy is a velocity free scheme, where the control law only depends on the neighbors position information.
Keywords :
adaptive control; cascade control; collision avoidance; control system synthesis; decentralised control; mobile robots; motion control; nonlinear dynamical systems; position control; stability; uncertain systems; adaptive formation control; adaptive motion controller; cascaded control strategy; collision avoidance; decentralized formation control design; dynamic nonholonomic systems; globally stable adaptive system; kinematic control; neighbors position information; nonholonomic mobile robots; saturated artificial potential function; uncertain nonlinear dynamic control; unknown dynamic parameters; velocity free scheme; Adaptive control; Collision avoidance; Control design; Control systems; Mobile robots; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Programmable control; Velocity control;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530619
