• DocumentCode
    736478
  • Title

    A tracking control method for flocking of AmigoBots

  • Author

    Jin, Cheng ; Yong, Zhang ; Qing, Hui

  • Author_Institution
    School of Electrical Engineering, University of Jinan, Jinan 250022, P.R. China
  • fYear
    2015
  • fDate
    28-30 July 2015
  • Firstpage
    4219
  • Lastpage
    4222
  • Abstract
    The formation control problem of AmigoBots is addressed in this paper. Different from the second order linear model in the classical flocking control algorithm, the model of AmigoBot is not linear and is a kind of nonholonomic system that cannot be transformed into a linear form. A discontinuous control approached is proposed to track the γ-agent. With that, AmigoBot can track the γ-agent with asymptotic stability. Formation of five Amigobots are then achieved by tracking control of five γ-agents. Simulation results verify that the proposed approached is effective.
  • Keywords
    Asymptotic stability; Feedback control; Heuristic algorithms; Kinematics; Mobile robots; Navigation; Tracking; AmigoBot; Flocking; Nonholonomic system; Tracking control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (CCC), 2015 34th Chinese
  • Conference_Location
    Hangzhou, China
  • Type

    conf

  • DOI
    10.1109/ChiCC.2015.7260290
  • Filename
    7260290
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=736478