Formation Control of Mobile Robots Based on Interconnected Positive Systems

Hiroyuki Ichihara; Shinya Kajihara; Yoshio Ebihara; Dimitri Peaucelle

doi:10.1016/j.ifacol.2017.08.755

Formation Control of Mobile Robots Based on Interconnected Positive Systems

Hiroyuki Ichihara, Shinya Kajihara, Yoshio Ebihara, Dimitri Peaucelle

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	8441-8446
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.755
Publication status	Published - Jul 2017
Externally published	Yes

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

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10.1016/j.ifacol.2017.08.755

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Formation Control of Mobile Robots Based on Interconnected Positive Systems

Abstract

All Science Journal Classification (ASJC) codes

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