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
N1 - Publisher Copyright:
© 2015 Institute of Control, Robotics and Systems - ICROS.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
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
AN - SCOPUS:84966415614
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.
T2 - 15th International Conference on Control, Automation and Systems, ICCAS 2015
Y2 - 13 October 2015 through 16 October 2015
ER -