Formation Control of Multirobot Based on IO Feedback Linearization and Potential Function
Joint Authors
Liu, Sen
Peng, Kai-xiang
Dong, Jie
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-05-14
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
Standard techniques of I/O linearization are widely applied to leader-follower approach for multirobot formation control.
However general leader-follower approach cannot adapt to the environment with obstacles.
Concerning that issue, a formation control method of multirobot system based on potential function is proposed in this paper, and a new control law is designed by choosing a proper potential function and employing Lyapunov stability theory, which stabilizes the formation of the multirobot system.
We combine the method with a leader-follower approach to solve the problem that the latter cannot avoid obstacles.
Simulation results are given to validate the method.
American Psychological Association (APA)
Dong, Jie& Liu, Sen& Peng, Kai-xiang. 2014. Formation Control of Multirobot Based on IO Feedback Linearization and Potential Function. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-6.
https://search.emarefa.net/detail/BIM-505297
Modern Language Association (MLA)
Dong, Jie…[et al.]. Formation Control of Multirobot Based on IO Feedback Linearization and Potential Function. Mathematical Problems in Engineering No. 2014 (2014), pp.1-6.
https://search.emarefa.net/detail/BIM-505297
American Medical Association (AMA)
Dong, Jie& Liu, Sen& Peng, Kai-xiang. Formation Control of Multirobot Based on IO Feedback Linearization and Potential Function. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-6.
https://search.emarefa.net/detail/BIM-505297
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-505297