This paper presents the inverse optimal design method of a nonlinear distributed consensus protocol for formation control of multiple mobile robots. Both dynamics and kinematics are considered in the protocol design. First, we propose a state transformation method to obtain a proper consensus model of a mobile robot. Then, the inverse optimal protocol is designed with respect to a meaningful cost function under the assumption of perfect angular velocity tracking. The assumption will be relaxed by extending the inverse optimal protocol using the backstepping and Lyapunov's direct methods. The numerical simulation is carried out to verify the effectiveness of the proposed method.
|Title of host publication||53rd IEEE Conference on Decision and Control,CDC 2014|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|Publication status||Published - 2014|
|Event||2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States|
Duration: 2014 Dec 15 → 2014 Dec 17
|Name||Proceedings of the IEEE Conference on Decision and Control|
|Conference||2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014|
|Period||14/12/15 → 14/12/17|
Bibliographical notePublisher Copyright:
© 2014 IEEE.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Modelling and Simulation
- Control and Optimization