Title :
Adaptive distributed dynamic surface formation controller design for multi-robot systems
Author :
Yeong-Hwa Chang ; Chun-I Wu ; Cheng-Yuan Yang ; Tsung-Hsun Yang
Author_Institution :
Dept. of Electr. Eng., Chang Gung Univ., Taoyuan, Taiwan
Abstract :
This paper presents a distributed formation control scheme for multi-robot systems, where a set of dynamic equations of differential wheeled robots can be obtained from kinematics and dynamics analyses. Based on dynamic surface design techniques, the desired leader-follower formation control laws can be derived. It can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis. Finally, results of simulations and experiments verify that the desired formation pattern can be preserved for wheeled mobile robots with the presence of unknown uncertainties.
Keywords :
Lyapunov methods; closed loop systems; mobile robots; multi-robot systems; robot dynamics; robot kinematics; Lyapunov stability analysis; adaptive distributed dynamic surface formation controller design; closed-loop signals; differential wheeled robots; dynamic equations; dynamic surface design techniques; dynamics analysis; formation pattern; kinematics analysis; leader-follower formation control laws; multirobot systems; unknown uncertainties; wheeled mobile robots; Kinematics; Mobile robots; Multi-robot systems; Robot kinematics; Topology; Uncertainty; adaptive control; dynamic surface design; formation control; multi-robot system;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7170708