Inverse optimal design of the distributed consensus protocol for formation control of multiple mobile robots

Jae Young Lee, Yoon Ho Choi, Jin Bae Park

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Article number7039728
Pages (from-to)2222-2227
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2015-February
Issue numberFebruary
DOIs
Publication statusPublished - 2014 Jan 1

Fingerprint

Formation Control
Mobile Robot
Mobile robots
Backstepping
Angular velocity
Cost functions
Kinematics
Lyapunov Direct Method
Computer simulation
Design Method
Cost Function
Verify
Numerical Simulation
Optimal design

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

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abstract = "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.",
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Inverse optimal design of the distributed consensus protocol for formation control of multiple mobile robots. / Lee, Jae Young; Choi, Yoon Ho; Park, Jin Bae.

In: Proceedings of the IEEE Conference on Decision and Control, Vol. 2015-February, No. February, 7039728, 01.01.2014, p. 2222-2227.

Research output: Contribution to journalConference article

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AB - 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.

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