A synchronization control strategy for multiple robot systems using shape regulation technology

Author

Wang, Can ; Sun, Dong

Author_Institution

Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Hong Kong

fYear

2008

fDate

25-27 June 2008

Firstpage

467

Lastpage

472

Abstract

This article presents a synchronization control strategy, which can be applied to formation control of swarm of robots. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Then a shape regulation technology concerning switching between formations is developed to help apply our control concept. Simulations are performed on a group of twenty fully-actuated mobile robots in switching tasks between some common shapes.

Keywords

decentralised control; feedback; feedforward; mobile robots; multi-robot systems; position control; synchronisation; decentralized trajectory tracking controller; feedback controls; feedforward control; formation control; mobile robots; multiple robot systems; shape regulation technology; synchronization control strategy; Control systems; Error correction; Intelligent robots; Manufacturing automation; Mobile robots; Robot control; Robot kinematics; Robotics and automation; Shape control; Trajectory; formation; mobile robots; synchronization;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4592968

Filename

4592968