Leader-Follower Approach using Full-State Linearization via Dynamic Feedback

Author

Hassan, Ghulam Mubashar ; Yahya, Khawaja M. ; Ihsan-ul-Haq

Author_Institution

Oklahoma State Univ., Stillwater, OK

fYear

2006

fDate

13-14 Nov. 2006

Firstpage

297

Lastpage

305

Abstract

In this work, the leader-follower control problem is solved by using full-state linearization via dynamic feedback. This approach has certain advantages over the well known input-output linearization such as no relative point selection, simple extension to n-robots formation and representation of all dynamics in case of car-like robot model. Simulation results verify the validity and limitation of these controllers by Matlab. The new 3-D robot simulator Gazebo with robot server Player is also used to verify the results

Keywords

feedback; linearisation techniques; mathematics computing; mobile robots; multi-robot systems; path planning; 3D robot simulator; Gazebo; Matlab; car-like robot model; dynamic feedback; full-state linearization; input-output linearization; leader-follower control; n-robots formation; robot server Player; Adaptive control; Linear feedback control systems; Mathematical model; Mobile robots; Robot kinematics; Sliding mode control; State feedback; Vectors; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies, 2006. ICET '06. International Conference on

Conference_Location

Peshawar

Print_ISBN

1-4244-0503-3

Electronic_ISBN

1-4244-0503-3

Type

conf

DOI

10.1109/ICET.2006.335939

Filename

4136907