By Topic

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

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)
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