Title :
Nonholonomic control of distance-based cyclic polygon formation
Author :
Byung-Hun Lee ; Seung-Ju Lee ; Myoung-Chul Park ; Kwang-Kyo Oh ; Hyo-Sung Ahn
Author_Institution :
Sch. of Mechatron., Gwangju Inst. of Sci. & Technol. (GIST), Gwangju, South Korea
Abstract :
Inter-agent formation is the interesting issue and coped within previous literatures. We propose a control strategy based on inter-agent cyclic formulation of nonholonomic model. Graph is directed. Each agent maintains a desired distance with a neighbor agent. Under sliding control technique, sequence of control input forces configuration to equilibrium manifold. Unicycle-like model is used as nonholonomic agent model.
Keywords :
directed graphs; mobile robots; position control; variable structure systems; control input forces configuration; control strategy; directed graph; distance-based cyclic polygon formation; equilibrium manifold; interagent cyclic formulation; interagent formation control; neighbor agent; nonholonomic agent model; nonholonomic control; sliding control technique; unicycle-like model; Autonomous agents; Convergence; Manifolds; Mobile communication; Stability analysis; Trajectory; Vectors;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606033
