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A synchronization control strategy for multiple robot systems using shape regulation technology

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2 Author(s)
Can Wang ; Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Hong Kong ; Dong Sun

This article presents a synchronization control strategy, which can be applied to formation control of swarm of robots. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Then a shape regulation technology concerning switching between formations is developed to help apply our control concept. Simulations are performed on a group of twenty fully-actuated mobile robots in switching tasks between some common shapes.

Published in:

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Date of Conference:

25-27 June 2008

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