Formation control in uncertain environment

Author

Ding, Yingying ; He, Yan

Author_Institution

Coll. of Electr. & Control Eng., Changan Univ., Xi´´an, China

Volume

2

fYear

2009

fDate

20-22 Nov. 2009

Firstpage

562

Lastpage

566

Abstract

Formation control in uncertain environment is studied, including the control process noise and measurement noise. The decoupled Kalman filter based on discrete model is established. And the control performances based on absolute positioning sensor, relative positioning sensor or fusion of these two kinds of sensor are studied. Simulations show that absolute positioning sensor could assure the formation trajectory tracking stability, and the relative positioning sensor could hold the precision of formation shape. The fusion of two type sensors information could give satisfying control results both on formation trajectory and shape.

Keywords

Kalman filters; discrete systems; multi-robot systems; position control; sensor fusion; stability; tracking; uncertain systems; absolute positioning sensor; control performance; control process noise; decoupled Kalman filter; discrete model; formation control; formation shape; formation trajectory tracking stability; measurement noise; multirobot; relative positioning sensor; sensor fusion; uncertain environment; Control engineering; Educational institutions; Electric variables measurement; Helium; Robot kinematics; Robot sensing systems; Sensor fusion; Shape control; Stability analysis; Working environment noise; Kalman filter; formation; multi-robot; uncertain;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computing and Intelligent Systems, 2009. ICIS 2009. IEEE International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-4244-4754-1

Electronic_ISBN

978-1-4244-4738-1

Type

conf

DOI

10.1109/ICICISYS.2009.5358316

Filename

5358316