Discrete-time formation and marching control of Multi-Agent Robots Systems

Author

Hernández-Mendoza, D.E. ; Peñaloza-Mendoza, G.R. ; 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 presents a discrete-time formation and marching control for Multi-Agent Robots Systems (MARS) based on artificial potential function and the leader-follower scheme. The leader robot must track a prescribed trajectory and the rest of the robots follow the leader whereas archive a desired formation pattern. The controller is designed based on a discrete-time nonlinear approximate model of an unicycle-type robot. The model is derived by using the forward difference method (Euler approximation). Simulation and experimental results are presented to validate the proposed control.

Keywords

approximation theory; control system synthesis; difference equations; discrete time systems; mobile robots; multi-agent systems; multi-robot systems; nonlinear control systems; position control; robot kinematics; Euler approximation; artificial potential function; controller design; discrete-time control; discrete-time nonlinear approximate model; formation control; forward difference method; leader-follower scheme; marching control; multi-agent robot system; unicycle-type robot; Approximation methods; Mars; Mobile robots; Robot kinematics; Trajectory; Vectors; Discrete-time control; Euler Approximation; Formation Control; Marching Control; Mobile Robots; Multi-Agent Systems;

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.2011.6106618

Filename

6106618