Decentralized Coordination Control for Formation Stability of Autonomous Robotic Systems

Author

Guo, Yi

Author_Institution

Dept. of Electr. & Comput. Eng., Stevens Inst. of Technol., Hoboken, NJ

fYear

2006

fDate

25-28 June 2006

Firstpage

61

Lastpage

65

Abstract

Formation stability of a group of autonomous robotic systems is considered in the paper. We design cooperative control scheme in the framework of Lyapunov theorem for general linear dynamic systems. Decentralized control laws are explicitly constructed for individual systems with inter-system communications. Simulations show asymptotically tracking of a time-varying trajectory with pre-designated formation for a group of dynamic agents

Keywords

Lyapunov methods; decentralised control; linear systems; mobile robots; position control; stability; telerobotics; time-varying systems; Lyapunov theorem; autonomous robotic systems; cooperative control scheme; decentralized coordination control; formation stability; general linear dynamic systems; time-varying trajectory; Biological control systems; Bismuth; Communication system control; Control systems; Distributed control; Hydrogen; Robot kinematics; Robotics and automation; Stability; Vehicle dynamics; Formation control; Lyapunov theory; consensus protocol; decentralized control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257453

Filename

4026056