DocumentCode
3421616
Title
Distributed control of multiple wheeled mobile robots
Author
Dong, Wenjie ; Ben Ghalia, Mounir ; Farrell, Jay A.
Author_Institution
Dept. of Electr. Eng., Univ. of Texas-Pan American, Edinburg, TX, USA
fYear
2011
fDate
12-15 Dec. 2011
Firstpage
1373
Lastpage
1378
Abstract
This paper considers the cooperative control problem of multiple wheeled mobile robots. Cooperative control laws are proposed such that the state of each mobile robot asymptotically tracks a desired trajectory under the condition that the desired trajectory is only available to a portion of a group of mobile robots. Simulation results show the effectiveness of the proposed control laws.
Keywords
cooperative systems; distributed control; mobile robots; multi-robot systems; trajectory control; asymptotic trajectory tracking; control laws; cooperative control problem; distributed control; mobile robots group; multiple wheeled mobile robots; Linear systems; Mobile robots; Robot kinematics; Symmetric matrices; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location
Orlando, FL
ISSN
0743-1546
Print_ISBN
978-1-61284-800-6
Electronic_ISBN
0743-1546
Type
conf
DOI
10.1109/CDC.2011.6160237
Filename
6160237
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