By Topic

Robust leader-following formation control of multiple mobile robots using Lyapunov redesign

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
$33 $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

3 Author(s)
M. Naderi Soorki ; Amirkabir university of technology, Iran ; H. A. Talebi ; S. K. Y Nikravesh

This paper proposes a novel formation control strategy for multiple nonholonomic mobile robots using Lyapunov redesign. Leader-follower (1 - φ), and leader-leader (1 - 1) formation control has been formulated based on the first-order kinematics model of robots. The effect of the absolute velocity of leader robot, which is difficult to accurately measure, treated as model uncertainty of the system. Using Lyapunov redesign technique, a formation controller is designed to stabilize the overall system and makes the formation control system robust against the unmeasured velocity of the leader robot. Our approach is implemented through simulation and the results are shown to verify its operation.

Published in:

IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society

Date of Conference:

7-10 Nov. 2011