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
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;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4586690
