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Robust Leader-follower Formation Control of Mobile Robots Based on a Second Order Kinematics Model
Liu SC(刘士才); Tan DL(谈大龙); Liu GJ(刘光军)
Department机器人学研究室
Source Publication自动化学报
ISSN1874-1029
2007
Volume33Issue:9Pages:947-955
Indexed ByEI ; CSCD
EI Accession number20074310887760
CSCD IDCSCD:2917809
Contribution Rank1
KeywordLeader-follower Robot Formation Formation Control Robust Control Robust Adaptive Contro
AbstractIn this paper, we study the problem of modeling and controlling leader-follower formation of mobile robots. First, a novel kinematics model for leader-follower robot formation is formulated based on the relative motion states between the robots and the local motion of the follower robot. Using this model, the relative centripetal and Coriolis accelerations between robots are computed directly by measuring the relative and local motion sensors, and utilized to linearize the nonlinear system equations. A formation controller, consisting of a feedback linearization part and a sliding mode compensator, is designed to stabilize the overall system including the internal dynamics. The control gains are determined by solving a robustness inequality and assumed to satisfy a cooperative protocol that guarantees the stability of the zero dynamics of the formation system. The proposed controller generates the commanded acceleration for the follower robot and makes the formation control system robust to the effect of unmeasured acceleration of the leader robot. Furthermore, a robust adaptive controller is developed to deal with parametric uncertainty in the system. Simulation and experimental results have demonstrated the effectiveness of the proposed control method.
Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7403
Collection机器人学研究室
Recommended Citation
GB/T 7714
Liu SC,Tan DL,Liu GJ. Robust Leader-follower Formation Control of Mobile Robots Based on a Second Order Kinematics Model[J]. 自动化学报,2007,33(9):947-955.
APA Liu SC,Tan DL,&Liu GJ.(2007).Robust Leader-follower Formation Control of Mobile Robots Based on a Second Order Kinematics Model.自动化学报,33(9),947-955.
MLA Liu SC,et al."Robust Leader-follower Formation Control of Mobile Robots Based on a Second Order Kinematics Model".自动化学报 33.9(2007):947-955.
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