Title
A virtual structure approach to formation control of unicycle mobile robots using mutual coupling
Author
Sadowska, A.
van den Broek, T.H.A.
Huijberts, H.
van de Wouw, N.
Kostić, D.
Nijmeijer, H.
Publication year
2011
Abstract
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. © 2011 Copyright Taylor and Francis Group, LLC.
Subject
Mechatronics, Mechanics & Materials
IVS - Integrated Vehicle Safety
TS - Technical Sciences
Electronics
Industrial Innovation
cooperative control
robotics
stability of non-linear systems
Co-operative control
Coupling terms
Formation control
Leader-follower approach
Mutual coupling
Virtual structures
Mobile robots
Robotics
To reference this document use:
http://resolver.tudelft.nl/uuid:79b70f87-618e-46fc-af49-aea1ac60c1c2
TNO identifier
446781
ISSN
0020-7179
Source
International Journal of Control, 84 (11), 1886-1902
Document type
article