By Topic

Consensus of multiple uncertain mechanical systems and its application in cooperative control of mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Wenjie Dong ; Dept. of Electr. Eng., Univ. of California at Riverside, Riverside, CA ; Farrell, J.A.

This paper considers the design of control laws for multiple mechanical systems with parameter uncertainty such that the state of each system converges to a point which moves along a desired trajectory. Adaptive cooperative control laws are proposed with the aid of the passivity property of system dynamics and the results for graph theory. As an application, the proposed results are used to solve the cooperative control problem of multiple mobile robots with parameter uncertainty such that multiple mobile robots converge to a desired pattern which moves along a desired trajectory. To show effectiveness of the proposed results, simulation results are presented.

Published in:

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Date of Conference:

19-23 May 2008