Formation control of mobile robots with disturbances

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09
Pages128-131
Number of pages4
Publication statusPublished - 2009 Dec 1
Event14th International Symposium on Artificial Life and Robotics, AROB 14th'09 - Oita, Japan
Duration: 2008 Feb 52009 Feb 7

Other

Other14th International Symposium on Artificial Life and Robotics, AROB 14th'09
CountryJapan
CityOita
Period08/2/509/2/7

Fingerprint

Mobile robots
Kinematics
Torque
Sliding mode control
System stability
Dynamic models
Robots

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Park, B. S., Park, J. B., & Choi, Y. H. (2009). Formation control of mobile robots with disturbances. In Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09 (pp. 128-131)
Park, B. S. ; Park, J. B. ; Choi, Y. H. / Formation control of mobile robots with disturbances. Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09. 2009. pp. 128-131
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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. 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.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Park BS, Park JB, Choi YH. Formation control of mobile robots with disturbances. In Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09. 2009. p. 128-131