Title :
Robust distance-angle leader-follower formation control of non-holonomic mobile robots
Author :
Soltani, Nahid ; Shahmansoorian, Aref ; Khosravi, Mohammad A.
Abstract :
In this paper, we study formation control problem for a multi-robot system. Based on a leader-follower architecture, each follower keeps a desired relative position in the coordinate frame of a leader which determines the formation trajectory. It is supposed that each robot is exposed to an external disturbance. Hence, a nonlinear robust tracking controller is proposed to achieve a desired formation. Simulation results confirm the accuracy of the proposed formation control strategy.
Keywords :
mobile robots; motion control; multi-robot systems; nonlinear control systems; robust control; tracking; coordinate frame; formation control problem; formation control strategy; formation trajectory; leader-follower architecture; multirobot system; nonholonomic mobile robots; nonlinear robust tracking controller; robust distance angle leader-follower formation control; Computer architecture; Lead; Mobile robots; Robot kinematics; Robustness; Trajectory; Nonholonomic mobile robots; formation control; leader-follower architecture; robust control; sliding mode control;
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location :
Tehran
DOI :
10.1109/ICRoM.2014.6990771
