Title :
Globally stable rigid formation control for multi-robot systems
Author :
Wang, Qin ; Zhu, Yadong ; Li, Juan ; Hua, Qingguang
Author_Institution :
School of Information Engineering, Yangzhou University, Huayang Road, Yangzhou, 225500, P.R. China
Abstract :
A globally stable formation control strategy that drives multi-robot systems to a desired rigid formation is proposed in this paper. The proposed control law is based on the adaptive perturbation method, and it can guarantee that the equilibrium set of the overall system is unique, which is exactly the desired formation set. Simulation results are provided to illustrate the effectiveness of the control algorithm.
Keywords :
Asymptotic stability; Collision avoidance; Multi-robot systems; Nickel; Robot kinematics; Shape; global asymptotic stability; multi-robot systems; rigid formation;
Conference_Titel :
Control Conference (CCC), 2015 34th Chinese
Conference_Location :
Hangzhou, China
DOI :
10.1109/ChiCC.2015.7260829
