Matrix analysis
Control of Robot Manipulators
International Journal of Robotics Research
Automatica (Journal of IFAC)
Neural network output feedback control of robot formations
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs
Journal of Intelligent and Robotic Systems
A Novel Robust Leader-Following Control Design for Mobile Robots
Journal of Intelligent and Robotic Systems
Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups
Journal of Intelligent and Robotic Systems
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This paper considers formation control of a group of wheeled mobile robots with uncertainty. Decentralized cooperative robust controllers are proposed in two steps. In the first step, cooperative control laws are proposed for multiple kinematic systems with the aid of results from graph theory such that a group of robots comes into a desired formation. In the second step, cooperative robust control laws for multiple uncertain dynamic systems are proposed with the aid of backstepping techniques and the passivity properties of the dynamic systems such that multiple robots comes into a desired formation. Since communication delay is inevitable in cooperative control, its effect on the proposed controllers is analyzed. Simulation results show the effectiveness of the proposed controllers.