DocumentCode :
3310939
Title :
Experimental verification of formation control with distributed cameras
Author :
Bai, He ; Chapin, Karen Downum ; Wason, John ; Wen, John T.
Author_Institution :
Dept. of Electr., Rensselaer Polytech. Inst., Troy, NY, USA
fYear :
2009
fDate :
15-18 Dec. 2009
Firstpage :
2996
Lastpage :
3001
Abstract :
Formation control experiments are performed using two robots, each equipped with a camera. When both robots are fully informed of the reference velocity, a decentralized feedback control, which achieves the desired relative position and the reference velocity, is experimentally verified. Another adaptive design is implemented in the situation where only one robot has the full reference velocity information and the other robot estimates the reference velocity. The performances of the experiments are analyzed and compared with different feedback gains and adaptation gains. Typical experimental results show that the difference between individual camera measurements leads to steady state error in practice. As a preliminary investigation, this fact is analyzed theoretically with the measurement difference modeled as constant disturbance.
Keywords :
adaptive control; cameras; feedback; gain control; mobile robots; motion control; multi-robot systems; position control; velocity control; adaptation gains; decentralized feedback control; distributed cameras; feedback gains; formation control; reference velocity; robots; Cameras; Communication system control; Convergence; Distributed control; Feedback; Force control; Performance gain; Position measurement; Robot vision systems; Steady-state;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
ISSN :
0191-2216
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
Type :
conf
DOI :
10.1109/CDC.2009.5400491
Filename :
5400491
Link To Document :
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