DocumentCode
2917475
Title
Teleoperation of a cluster of mobile robots subject to model uncertainty
Author
Wenjie Dong ; Ben Ghalia, Mounir ; Chunyu Chen ; Yifan Xing
Author_Institution
Dept. of Electr. Eng., Univ. of Texas-Pan American, Edinburg, TX, USA
fYear
2013
fDate
17-19 June 2013
Firstpage
6436
Lastpage
6441
Abstract
This paper considers the teleoperation of a cluster of mobile robots that are required to follow a desired trajectory while maintaining a desired rigid formation pattern. The centroid of the robot formation is modeled as a virtual robot. Distributed control laws designed using a backstepping method are proposed for each robot with the aid of neighbors´ information. It is shown that the motion of the centroid of the cluster of robots is synchronized to that of the virtual robot. The theoretical results are validated by simulations on a cluster of five mobile robots.
Keywords
control system synthesis; mobile robots; multi-robot systems; telecontrol; backstepping method; centroid; distributed control laws; mobile robots; model uncertainty; rigid formation pattern; robot formation; teleoperation; trajectory; virtual robot; Backstepping; Control systems; Delays; Mobile robots; Robot kinematics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2013
Conference_Location
Washington, DC
ISSN
0743-1619
Print_ISBN
978-1-4799-0177-7
Type
conf
DOI
10.1109/ACC.2013.6580848
Filename
6580848
Link To Document