DocumentCode
2383491
Title
Formation control of multiple mobile robots with uncertainty
Author
Dong, Wenjie ; Farrell, Jay A.
Author_Institution
Dept. of Electr. Eng., California Univ., Riverside, CA
fYear
2008
fDate
11-13 June 2008
Firstpage
1412
Lastpage
1417
Abstract
This paper considers the formation control problem of multiple mobile robots with parameter uncertainty. Decentralized adaptive control laws are proposed with the aid of the passivity property of the system dynamics and the results of graph theory.
Keywords
adaptive control; decentralised control; graph theory; mobile robots; multi-robot systems; position control; uncertain systems; decentralized adaptive control; formation control; graph theory; multiple mobile robots; parameter uncertainty; Communication system control; Control systems; Distributed control; Graph theory; Mobile robots; Robot kinematics; Stability; Uncertain systems; Uncertainty; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2008
Conference_Location
Seattle, WA
ISSN
0743-1619
Print_ISBN
978-1-4244-2078-0
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2008.4586690
Filename
4586690
Link To Document