On the switching control of multiple mobile robots formation

Authors:
Jianxin Wu;Zhe Jiang
Affiliations:
Institute of Systems Science, Chinese Academy of Sciences, Beijing, China;Institute of Systems Science, Chinese Academy of Sciences, Beijing, China
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 4
Cited 0

Finite time controllers

SIAM Journal on Control and Optimization
Robot Analysis and Control

Robot Analysis and Control
High Precision Formation Control of Mobile Robots Using Virtual Structures

Autonomous Robots
Finite-time convergent gradient flows with applications to network consensus

Automatica (Journal of IFAC)

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Abstract

This paper considers the formation control of multiple skid-steered mobile robots with nonholonomic constraint in each robot dynamics. We propose a switching control method based on local sensor-based information for the group of robots. If the distance between leader and follower robots is larger than the switching thershold, a nonlinear control law is employed to make the followers move effectively toward the leader robot; otherwise, finite-time control based on feedback linearization is used to quickly stabilize the relative distance and orientation of the follower robots. Both stability analysis and simulations are provided and moreover, the formation control of Pioneer 3-AT mobile robots by the proposed method is shown.