Title :
A unified formation control policy of multi-robot system
Author :
Ding, Yingying ; He, Yan
Author_Institution :
Coll. of Electr. & Control Eng., Changan Univ., Xi´´an, China
Abstract :
A unified formation control policy is presented. From the trajectory and shape aspects, the group formation control problem is decoupled into the desired trajectory tracking problem of each individual, and the consistency of stability and optimality between these two problems are proved. The overall criterion and decomposed criterions to evaluate the formation performance are designed. The decomposed criterions reflect the trajectory tracking precision and shape distortion degree, and they are an orthogonal decomposition of the overall criterion. Analysis show the control policy can be extended into the flexible formation applications.
Keywords :
multi-robot systems; optimal control; position control; shape control; stability; decomposed criterion; multi-robot system; optimal control; overall criterion; shape control; stability; trajectory control; unified formation control policy; Computational geometry; Control systems; Educational institutions; Integrated circuit modeling; Intelligent transportation systems; Mathematics; Multirobot systems; Robot kinematics; Shape control; Trajectory; Multi-robot system; evaluation criterion; formation; optimality; stability;
Conference_Titel :
Intelligent Computing and Intelligent Systems, 2009. ICIS 2009. IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-4754-1
Electronic_ISBN :
978-1-4244-4738-1
DOI :
10.1109/ICICISYS.2009.5358382
