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| Title: | Control of nonholonomic mobile robot formations: backstepping kinematics into dynamics | |
| Author (s): | Dierks, Travis Sarangapani, Jagannathan | |
| Department/Lab Affiliations: | Computer Science Electrical and Computer Engineering Engineering Management & Systems Engineering Intelligent Systems Center | |
| Keywords: | Lyapunov methods formation control kinematic/dynamic controller | |
| Issue Date: | 2007 | |
| Publisher: | Institute of Electrical and Electronics Engineers IEEE | |
| Citation: | Dierks, T. and Jagannathan, S. “Control of nonholonomic mobile robot formations: Backstepping Kinematics into Dynamics.” IEEE International Conference on Control Applications, 2007. CCA 2007, pp. 94-99. | |
| Abstract: | In this paper, we seek to expand framework developed to control a single nonholonomic mobile robot to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. The asymptotic stability of the entire formation is guaranteed using Lyapunov theory, and numerical results are provided The kinematic controller is developed around control strategies for single mobile robots and the idea of virtual leaders. The virtual leader is replaced with a physical mobile robot leader and the assumption of constant reference velocities is removed An auxiliary velocity control is developed allowing the asymptotic stability of the followers to be proved without the use of Barbalat's Lemma which simplifies proving the entire formation is asymptotically stable. A novel approach is taken in the development of the dynamical controller such that the torque control inputs for the follower robots include the dynamics of the follower robot as well as the dynamics of its leader, and the case when all robot dynamics are known is considered. | |
| Type: | Article - Conference proceedings text | |
| In Title: | IEEE International Conference on Control Applications, 2007. CCA 2007 | |
| Copyright Notice: | This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. allows publisher's final version to be uploaded FULL COPYRIGHT INFORMATION: | |
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| title | Control of nonholonomic mobile robot formations: backstepping kinematics into dynamics | |
| contributor.author | Dierks, Travis | |
| contributor.author | Sarangapani, Jagannathan | |
| contributor.deptlab | Computer Science | |
| contributor.deptlab | Electrical and Computer Engineering | |
| contributor.deptlab | Engineering Management & Systems Engineering | |
| contributor.deptlab | Intelligent Systems Center | |
| contributor.sponsor | U.S. Department of Education | |
| contributor.sponsor | UMR Intelligent Systems Center | |
| subject | Lyapunov methods | |
| subject | formation control | |
| subject | kinematic/dynamic controller | |
| date.issued | 2007 | |
| publisher | Institute of Electrical and Electronics Engineers IEEE | |
| identifier.citation | Dierks, T. and Jagannathan, S. “Control of nonholonomic mobile robot formations: Backstepping Kinematics into Dynamics.” IEEE International Conference on Control Applications, 2007. CCA 2007, pp. 94-99. | |
| identifier.pub.URI | ||
| description.abstract | In this paper, we seek to expand framework developed to control a single nonholonomic mobile robot to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. The asymptotic stability of the entire formation is guaranteed using Lyapunov theory, and numerical results are provided The kinematic controller is developed around control strategies for single mobile robots and the idea of virtual leaders. The virtual leader is replaced with a physical mobile robot leader and the assumption of constant reference velocities is removed An auxiliary velocity control is developed allowing the asymptotic stability of the followers to be proved without the use of Barbalat's Lemma which simplifies proving the entire formation is asymptotically stable. A novel approach is taken in the development of the dynamical controller such that the torque control inputs for the follower robots include the dynamics of the follower robot as well as the dynamics of its leader, and the case when all robot dynamics are known is considered. | |
| type | Article - Conference proceedings | |
| type.DCMIType | text | |
| type.status | Final version | |
| rights | This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. | |
| rights | allows publisher's final version to be uploaded | |
| rights.URI | ||
| rights.URI | ||
| rights.URI | ||
| relation.isPartOf | IEEE International Conference on Control Applications, 2007. CCA 2007 | |
| date.accessioned | 2008-07-24T19:02:39Z | |
| date.available | 2008-08-04T21:09:00Z | |
| identifier.persist.URI | ||
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