DocumentCode
2266716
Title
Globally stable rigid formation control for multi-robot systems
Author
Wang, Qin ; Zhu, Yadong ; Li, Juan ; Hua, Qingguang
Author_Institution
School of Information Engineering, Yangzhou University, Huayang Road, Yangzhou, 225500, P.R. China
fYear
2015
fDate
28-30 July 2015
Firstpage
7505
Lastpage
7510
Abstract
A globally stable formation control strategy that drives multi-robot systems to a desired rigid formation is proposed in this paper. The proposed control law is based on the adaptive perturbation method, and it can guarantee that the equilibrium set of the overall system is unique, which is exactly the desired formation set. Simulation results are provided to illustrate the effectiveness of the control algorithm.
Keywords
Asymptotic stability; Collision avoidance; Multi-robot systems; Nickel; Robot kinematics; Shape; global asymptotic stability; multi-robot systems; rigid formation;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2015 34th Chinese
Conference_Location
Hangzhou, China
Type
conf
DOI
10.1109/ChiCC.2015.7260829
Filename
7260829
Link To Document