Formation Control of Mobile Robots Based on Interconnected Positive Systems - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2017

Formation Control of Mobile Robots Based on Interconnected Positive Systems

Résumé

This paper deals with formation control of mobile robots based on interconnected positive systems with SISO subsystems where each robot has a nonlinear dynamics of a MIMO subsystem. To linearize the dynamics, this paper introduces a virtual vehicle of the robot. Then a feedback linearization and a local feedback law transform each dynamics of the virtual vehicle into two SISO positive and stable linear systems. Consequently, the dynamics of the virtual vehicles satisfy the properties of the interconnected positive systems. Experimental results as well as numerical examples including leader-follower formation control for the mobile robots are illustrated.

Domaines

Automatique

Dates et versions

hal-01760487 , version 1 (06-04-2018)

Identifiants

Citer

Hiroyuki Ichihara, Shinya Kajihara, Yoshio Ebihara, Dimitri Peaucelle. Formation Control of Mobile Robots Based on Interconnected Positive Systems. IFAC World Congress, Jul 2017, Toulouse, France. pp.8441 - 8446, ⟨10.1016/j.ifacol.2017.08.755⟩. ⟨hal-01760487⟩
61 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More