SDRE based leader-follower formation control of multiple mobile robots
Formation control of multiple mobile robots is a relatively new research area of robotics and increase the control performance and advantages of multiple mobile robots systems. In this work we present a study concerning the modeling and formation control of a robotic system composed by two mobile ro...
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| Formato: | article |
| Idioma: | eng |
| Publicado em: |
2014
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| Texto completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2179-84512014000200006 |
| País: | Brasil |
| Oai: | oai:scielo:S2179-84512014000200006 |
| Resumo: | Formation control of multiple mobile robots is a relatively new research area of robotics and increase the control performance and advantages of multiple mobile robots systems. In this work we present a study concerning the modeling and formation control of a robotic system composed by two mobile robots, the leader robot and the follower robot. The system is a nonlinear dynamical system and cannot be controlled by traditional linear control techniques. The control strategy proposed is the SDRE (State-Dependent Riccati Equation) method. Simulations results with the software Matlab show the efficiency of the control method. |
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