Title :
Distributed control of multiple wheeled mobile robots
Author :
Dong, Wenjie ; Ben Ghalia, Mounir ; Farrell, Jay A.
Author_Institution :
Dept. of Electr. Eng., Univ. of Texas-Pan American, Edinburg, TX, USA
Abstract :
This paper considers the cooperative control problem of multiple wheeled mobile robots. Cooperative control laws are proposed such that the state of each mobile robot asymptotically tracks a desired trajectory under the condition that the desired trajectory is only available to a portion of a group of mobile robots. Simulation results show the effectiveness of the proposed control laws.
Keywords :
cooperative systems; distributed control; mobile robots; multi-robot systems; trajectory control; asymptotic trajectory tracking; control laws; cooperative control problem; distributed control; mobile robots group; multiple wheeled mobile robots; Linear systems; Mobile robots; Robot kinematics; Symmetric matrices; Trajectory;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160237
