Globally Exponentially Stable Triangle Formation Control of Multi-robot Systems

被引：1

作者：

Wang, Qin ^{[1
]}

Hua, Qingguang ^{[1
]}

Chen, Zuwen ^{[1
]}

机构：

[1] Yangzhou Univ, Dept Automat, Coll Informat Engn, Yangzhou 225127, Jiangsu, Peoples R China

来源：

PROCEEDINGS OF 2016 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL II | 2016年 / 405卷

关键词：

Multi-robot systems; Lyapunov direct method; Globally exponential stability; RIGID FORMATIONS; STABILIZATION;

D O I：

10.1007/978-981-10-2335-4_34

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, the problem of formation control for nonholonomic robots is investigated. Based on the negative gradient method and the Lyapunov direct method, a globally and exponentially stable control scheme for multi-robot formation control system is designed. The proposed control law using the adaptive perturbation method can guarantee the globally exponential stability of the desired triangle and line formation, and the equilibrium set of the overall system is unique, which is exactly the desired formation set. Finally, some simulations illustrate the effectiveness and correctness of the proposed controllers.

引用

页码：361 / 370

页数：10

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