Time-varying formation control for multi-agent systems applied to n-trailer configuration

Author

Peñaloza-Mendoza, G.R. ; Hernández-Mendoza, D.E. ; Aranda-Bricaire, E.

Author_Institution

Dept. of Electr. Eng., CINVESTAV, Mexico City, Mexico

fYear

2011

fDate

26-28 Oct. 2011

Firstpage

1

Lastpage

6

Abstract

This paper focusses on the design and analysis of a control strategy that allows multi-agent robots systems to track a predetermined trajectory whilst they achieve time-varying formation. The strategies are based on artificial potential functions and the leader-follower scheme. The control laws herein are decentralized since it is assumed that the agents have no knowledge of the goals of the other agents and can sense position and velocity of some agents only. The analysis is applied to the kinematic model of unicycle-type robots, where the output function to control is a point outside the robot´s wheels axis. The control law proposed in the paper allows to emulate the standard and generalized n-trailer kinematics.

Keywords

control system analysis; control system synthesis; mobile robots; multi-agent systems; multi-robot systems; position control; robot kinematics; time-varying systems; velocity control; wheels; agent position; agent velocity; artificial potential function; control strategy analysis; control strategy design; leader-follower scheme; multi-agent robot system; n-trailer configuration; robot wheels axis; time-varying formation control; unicycle-type robot kinematic model; Kinematics; Mobile robots; Robot kinematics; Trajectory; Vectors; Wheels; Formation Control; Mobile Robots; Multi-agent Systems; Time-varying Formation;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering Computing Science and Automatic Control (CCE), 2011 8th International Conference on

Conference_Location

Merida City

Print_ISBN

978-1-4577-1011-7

Type

conf

DOI

10.1109/ICEEE.2011.6106593

Filename

6106593