Formation control of mobile robots with disturbances

B. S. Park; J. B. Park; Y. H. Choi

Formation control of mobile robots with disturbances

B. S. Park, J. B. Park, Y. H. Choi

Department of Electrical and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes a formation control method for nonholonomic mobile robots in the presence of disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. However, unlike many researches considering only the kinematic model, we also consider the dynamic model to obtain the torque input because it is more realistic to use the torque as the input than the velocity. Moreover, the sliding mode control method is used to deal with disturbances acting on the mobile robots. The system stability and the convergence of tracking errors are proven using Lyapunov stability theory.

Original language	English
Title of host publication	Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09
Pages	128-131
Number of pages	4
Publication status	Published - 2009
Event	14th International Symposium on Artificial Life and Robotics, AROB 14th'09 - Oita, Japan Duration: 2008 Feb 5 → 2009 Feb 7

Publication series

Name	Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09

Other

Other	14th International Symposium on Artificial Life and Robotics, AROB 14th'09
Country	Japan
City	Oita
Period	08/2/5 → 09/2/7

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction

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title = "Formation control of mobile robots with disturbances",

abstract = "This paper proposes a formation control method for nonholonomic mobile robots in the presence of disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. However, unlike many researches considering only the kinematic model, we also consider the dynamic model to obtain the torque input because it is more realistic to use the torque as the input than the velocity. Moreover, the sliding mode control method is used to deal with disturbances acting on the mobile robots. The system stability and the convergence of tracking errors are proven using Lyapunov stability theory.",

author = "Park, {B. S.} and Park, {J. B.} and Choi, {Y. H.}",

year = "2009",

language = "English",

isbn = "9784990288037",

series = "Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09",

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booktitle = "Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09",

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Park, BS, Park, JB & Choi, YH 2009, Formation control of mobile robots with disturbances. in Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09. Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09, pp. 128-131, 14th International Symposium on Artificial Life and Robotics, AROB 14th'09, Oita, Japan, 08/2/5.

Formation control of mobile robots with disturbances. / Park, B. S.; Park, J. B.; Choi, Y. H.

Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09. 2009. p. 128-131 (Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - This paper proposes a formation control method for nonholonomic mobile robots in the presence of disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. However, unlike many researches considering only the kinematic model, we also consider the dynamic model to obtain the torque input because it is more realistic to use the torque as the input than the velocity. Moreover, the sliding mode control method is used to deal with disturbances acting on the mobile robots. The system stability and the convergence of tracking errors are proven using Lyapunov stability theory.

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