In this paper, we propose an inverse optimal design method of a distributed graphical formation control of multiple mobile robots, where the group of robots configures the desired formation and moves with the same group velocity under the undirected graph topology. The robots' dynamics and kinematics are considered in the design. Under the assumption of perfect angular velocity tracking, the proposed protocol guarantees inverse optimality with respect to a meaningful cost function. Backstepping technique is employed to relax the assumption. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed method.
|Title of host publication||ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|Publication status||Published - 2015 Dec 23|
|Event||15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of|
Duration: 2015 Oct 13 → 2015 Oct 16
|Name||ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings|
|Other||15th International Conference on Control, Automation and Systems, ICCAS 2015|
|Country/Territory||Korea, Republic of|
|Period||15/10/13 → 15/10/16|
Bibliographical notePublisher Copyright:
© 2015 Institute of Control, Robotics and Systems - ICROS.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering