Formation Control of Mobile Robots Based on Interconnected Positive Systems

Hiroyuki Ichihara, Shinya Kajihara, Yoshio Ebihara, Dimitri Peaucelle

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This paper deals with formation control of mobile robots based on interconnected positive systems with SISO subsystems where each robot has a nonlinear dynamics of a MIMO subsystem. To linearize the dynamics, this paper introduces a virtual vehicle of the robot. Then a feedback linearization and a local feedback law transform each dynamics of the virtual vehicle into two SISO positive and stable linear systems. Consequently, the dynamics of the virtual vehicles satisfy the properties of the interconnected positive systems. Experimental results as well as numerical examples including leader-follower formation control for the mobile robots are illustrated.

Original languageEnglish
Pages (from-to)8441-8446
Number of pages6
Issue number1
Publication statusPublished - Jul 2017
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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