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 Dec 1 |
| Event | 14th International Symposium on Artificial Life and Robotics, AROB 14th'09 - Oita, Japan Duration: 2008 Feb 5 → 2009 Feb 7 |
Other
| Other | 14th International Symposium on Artificial Life and Robotics, AROB 14th'09 |
|---|---|
| Country | Japan |
| City | Oita |
| Period | 08/2/5 → 09/2/7 |
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All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
Cite this
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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 proceeding › Conference contribution
TY - GEN
T1 - Formation control of mobile robots with disturbances
AU - Park, B. S.
AU - Park, J. B.
AU - Choi, Y. H.
PY - 2009/12/1
Y1 - 2009/12/1
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=78149347364&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78149347364&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78149347364
SN - 9784990288037
SP - 128
EP - 131
BT - Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09
ER -