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Browse Journals & Magazines > Control Theory & Applications ...> Volume:4 Issue:5 Help

Distributed discrete-time coupled harmonic oscillators with application to synchronised motion coordination

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3 Author(s)
Ballard, L. ; Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA ; Cao, Y. ; Ren, W.

In this paper, distributed discrete-time coupled harmonic oscillators are studied. Convergence conditions for synchronisation of the discrete-time coupled harmonic oscillators are given. The distributed discrete-time coupled harmonic oscillators are then used to design a control strategy for symmetric formations. The purpose of the control strategy is for groups of mobile robots to move in a synchronised manner with local interaction. Both simulation and experimental results on networked mobile robots are presented. Based on the results of both simulation and experimentation, this strategy is an effective method for synchronising the motions of multiple mobile robots.

Published in:
Control Theory & Applications, IET  (Volume:4 ,  Issue: 5 )

Date of Publication: May 2010

Page(s):
806 - 816
ISSN :
1751-8644
Digital Object Identifier :
10.1049/iet-cta.2009.0053
Product Type:
Journals & Magazines
Date of Current Version :
27 May 2010
Issue Date :
May 2010
Sponsored by :
Institution of Engineering and Technology

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