Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1166-1171 |
| Number of pages | 6 |
| ISBN (Electronic) | 9788993215090 |
| DOIs | |
| 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 |
Publication series
| Name | ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings |
|---|
Other
| Other | 15th International Conference on Control, Automation and Systems, ICCAS 2015 |
|---|---|
| Country | Korea, Republic of |
| City | Busan |
| Period | 15/10/13 → 15/10/16 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Cite this
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Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics. / Lee, Jae Young; Choi, Yoon Ho; Park, Jin Bae.
ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1166-1171 7364804 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics
AU - Lee, Jae Young
AU - Choi, Yoon Ho
AU - Park, Jin Bae
PY - 2015/12/23
Y1 - 2015/12/23
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84966415614&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84966415614&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2015.7364804
DO - 10.1109/ICCAS.2015.7364804
M3 - Conference contribution
T3 - ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
SP - 1166
EP - 1171
BT - ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
ER -