Control strategies for groups of autonomous wheeled mobile robots with restricted inputs

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Abstract

The problem of team control is of recent interest in intelligent systems and robotics due to the broad range of applications of multi-agent systems in space missions, operations in hazardous environments, and military missions. Such systems can exhibit flexibility, reliability through redundancy, and simple hardware. This paper considers control problems in unicycle-like mobile robots with restricted inputs. The concept of flatness will be applied for generating reference trajectories, and tracking controllers will be established for the considered system with bounds on the input signals. The rigid formation control problem will then be studied and solved based on the established tracking controllers. The proposed controllers which account for the system physical constraints ensure asymptotic convergence of a group of N agents towards a desired rigid formation.

Original languageEnglish
Title of host publication2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
DOIs
StatePublished - 1 Dec 2012
Event2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012 - Eilat, Israel
Duration: 14 Nov 201217 Nov 2012

Publication series

Name2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012

Conference

Conference2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
Country/TerritoryIsrael
CityEilat
Period14/11/1217/11/12

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