Title :
Observer Based Leader-Following Formation Control Using On-board Sensor Information
Author :
Tove, Gustavi ; Xiaoming, Hu
Author_Institution :
R. Inst. of Technol., Stockholm
Abstract :
In this paper leader-following formation control for mobile multi-agent systems with limited sensor information is studied. The control algorithms developed require only information available from on-board sensors, and in particular, the measurement of the leader (neighbor) speed is not needed.
Keywords :
mobile robots; multi-robot systems; position control; control algorithms; mobile multiagent systems; observer based leader-following formation control; onboard sensor information; Adaptive control; Control systems; Mobile robots; Multiagent systems; Particle measurements; Proportional control; Robot sensing systems; Robust stability; Sensor systems; Velocity measurement; Formation control; Leader-following control; Nonlinear observers;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347381
