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  1. International Journal of Control, Automation and Systems
  2. International Journal of Control, Automation and Systems : Volume 15
  3. International Journal of Control, Automation and Systems : Volume 15, Issue 3, June 2017
  4. A formation and traction control design for multiple mobile robots
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International Journal of Control, Automation and Systems : Volume 15
International Journal of Control, Automation and Systems : Volume 15, Issue 6, December 2017
International Journal of Control, Automation and Systems : Volume 15, Issue 5, October 2017
International Journal of Control, Automation and Systems : Volume 15, Issue 3, June 2017
A new extended LMI-based robust gain scheduled state feedback H $_{2}$ controller design
Dynamic output feedback robust MPC for LPV systems subject to input saturation and bounded disturbance
Stability and asynchronous stabilization for a class of discrete-time switched nonlinear systems with stable and unstable subsystems
Robust H $_{∞}$ filtering for uncertain discrete-time descriptor systems
Dynamic analysis of a 5D fractional-order hyperchaotic system
Stability analysis of a family of continuous state feedback synthesis: Theory and experiments
Prescribed performance adaptive neural tracking control for strict-feedback Markovian jump nonlinear systems with time-varying delay
Positive observer design for linear impulsive positive systems with interval uncertainties and time delay
Switching predictive control for continuous-time Markovian jump delay systems
Optimal controls of fractional impulsive partial neutral stochastic integro-differential systems with infinite delay in Hilbert spaces
Quasi-min-max output-feedback model predictive control for LPV systems with input saturation
Adjustable parameter-based multi-objective fault estimation observer design for continuous-time/discrete-time dynamic systems
Kalman filter-based wind speed estimation for wind turbine control
A novel robust adaptive second-order sliding mode tracking control technique for uncertain dynamical systems with matched and unmatched disturbances
Quantized control for uncertain singular Markovian jump linear systems with general incomplete transition rates
State feedback design for nonlinear quadratic systems with randomly occurring actuator saturation
Global adaptive control for a class of uncertain stochastic nonlinear systems with unknown output gain
Bifurcation control in a delayed two-neuron fractional network
Robust fault diagnosis scheme in a class of nonlinear system based on UIO and fuzzy residual
TDOA/FDOA based target tracking with imperfect position and velocity data of distributed moving sensors
Almost global finite-time stabilization of spacecraft formation flying with decentralized collision avoidance
Containment control for directed networks multi-agent system with nonlinear dynamics and communication time-delays
A filtering based multi-innovation extended stochastic gradient algorithm for multivariable control systems
Decentralized model reference adaptive control for interconnected time delay systems with delay in state and compensation of long delay in input by nested prediction
Servo system design for speed control of AC induction motors using polynomial differential operator
Order reduction of plant and controller in closed loop identification based on joint input-output approach
Robust output tracking control for a class of uncertain nonlinear systems using extended state observer
A simple method to design robust fractional-order lead compensator
Auxiliary particle Bernoulli filter for target tracking
Design of super twisting algorithm for chattering suppression in machine tools
Adaptive feedback linearization control for twin rotor multiple-input multiple-output system
Generalized hierarchical block circulant structure of multi-agent systems
A formation and traction control design for multiple mobile robots
The LQR baseline with adaptive augmentation rejection of unmatched input disturbance
Fractional sliding mode control of underwater ROVs subject to non-differentiable disturbances
Line segment selection method for fast path planning
A novel geometric invariant of a pair of conics and its application to eyeglasses-tracking interface
Equitranslational and axially rotational microrobot using electromagnetic actuation system
Anticipated trajectory based proportional navigation guidance scheme for intercepting high maneuvering targets
Visual servoing using an optimized trajectory planning technique for a 4 DOFs robotic manipulator
Stereo-vision based obstacle avoidance by finding safe region
System identification of an airship using trust region reflective least squares algorithm
An improved H $_{∞}$ fuzzy filter for nonlinear sampled-data systems
Pinning control of complex network synchronization: A recurrent neural network approach
Approximation-based adaptive tracking of uncertain input-quantized nonlinear systems in the presence of unknown quantization parameters and control directions
Adaptive neural network tracking of a class of switched nonlinear systems with time-varying output constraints
A new quadrotor manipulation system: Modeling and point-to-point task space control
Cartesian space consensus of heterogeneous and uncertain Euler-Lagrange systems using artificial neural networks
Adaptive wavelet neural network controller for active suppression control of a diaphragm-type pneumatic vibration isolator
Elongation prediction of steel-strips in annealing furnace with deep learning via improved incremental extreme learning machine
International Journal of Control, Automation and Systems : Volume 15, Issue 2, April 2017
International Journal of Control, Automation and Systems : Volume 15, Issue 1, February 2017
International Journal of Control, Automation and Systems : Volume 14
International Journal of Control, Automation and Systems : Volume 13
International Journal of Control, Automation and Systems : Volume 12
International Journal of Control, Automation and Systems : Volume 11
International Journal of Control, Automation and Systems : Volume 10
International Journal of Control, Automation and Systems : Volume 9
International Journal of Control, Automation and Systems : Volume 8
International Journal of Control, Automation and Systems : Volume 7

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A formation and traction control design for multiple mobile robots

Content Provider Springer Nature Link
Author Kim, Hyun Su Park, Jong Koo Kuc, Tae Yong Ko, Nak Yong Moon, Yong Seon
Copyright Year 2017
Abstract This paper presents a decentralized controller design for formation and traction control of multiple robots with collision avoidance. The proposed control design consists of two steps: formation control design with collision avoidance and traction control design for movement of robot formation along the desired trajectory. In the first step, a formation controller is designed based on the formation graph model of multiple robots and potential function approach. Then, the traction control input is derived in the second step by locating the virtual leader at the central position of robot formation which leads mobile robots to follow the assigned trajectory in formation. In this distributed control design, parameter uncertainty in kinematic system model is also accommodated by deriving an adaptive rule for estimation of uncertain system parameters. Together with the stability analysis of the proposed controller, simulation and experiment results verify the feasibility and effectiveness of the distributed controller for multi-robot coordination.
Starting Page 1287
Ending Page 1301
Page Count 15
File Format PDF
ISSN 15986446
Journal International Journal of Control, Automation and Systems
Volume Number 15
Issue Number 3
e-ISSN 20054092
Language English
Publisher Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date 2017-05-22
Publisher Place Bucheon, Seoul
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Collision avoidance distributed control finite potential function formation control formation graph kinematic control multiple mobile robots traction control virtual leader Control, Robotics, Mechatronics
Content Type Text
Resource Type Article
Subject Control and Systems Engineering Computer Science Applications
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