A virtual structure approach to formation control of unicycle mobile robots using mutual coupling

被引：97
|
作者：
Sadowska, Anna [1 ]
van den Broek, Thijs [2 ]
Huijberts, Henri [1 ]
van de Wouw, Nathan [3 ]
Kostic, Dragan [3 ]
Nijmeijer, Henk [3 ]
机构：
[1] Queen Mary Univ London, Sch Engn & Mat Sci, London E1 4NS, England
[2] TNO, NL-5700 AT Helmond, Netherlands
[3] Eindhoven Univ Technol, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2011年 / 84卷 / 11期
关键词：
cooperative control; robotics; stability of non-linear systems; SYSTEMS;
D O I：
10.1080/00207179.2011.627686
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, the formation control problem for unicycle mobile robots is studied. A distributed virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness of the formation with respect to perturbations as compared to typical leader-follower approaches. The applicability of the proposed approach is shown in simulations and experiments with a group of wirelessly controlled mobile robots.
引用
收藏
页码：1886 / 1902
页数：17
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