In literature leader - follower strategy has been used extensively for formation control of car-like mobile robots with the control law being derived from the kinematics. This paper takes it a step further and a nonlinear control law is derived using Lyapunov analysis for formation control of car-like mobile robots using robot dynamics. Controller is split into two parts. The first part is the development of a velocity controller for the follower from the error kinematics (linear and angular). The second part involves the use of the dynamics of the robot in the development of a torque controller for both the drive and the steering system of the car-like mobile robot. Unknown quantities like friction, desired accelerations (unmeasured) are computed using an online neural network. Simulations results prove the ability of the controller to effectively stabilize the formation while maintaining the desired relative distance and bearing.
S. A. Ramaswamy and S. N. Balakrishnan, "Formation Control of Car-like Mobile Robots: A Lyapunov Function Based Approach," Proceedings of the 2008 American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), Jun 2008.
The definitive version is available at http://dx.doi.org/10.1109/ACC.2008.4586567
2008 American Control Conference
Mechanical and Aerospace Engineering
Keywords and Phrases
Lyapunov Methods; Accerleration Control; Mobile Robots; Nonlinear Control Systems; Robot Dynamics; Robot Kinematics; Steering Systems; Torque Control; Velocity Control
Article - Conference proceedings
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