Formation Control of Multirobot Based on I/O Feedback Linearization and Potential Function | Zendy

Jie Dong | Zendy; Sen Liu | Zendy; Kaixiang Peng | Zendy

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Formation Control of Multirobot Based on I/O Feedback Linearization and Potential Function

Author(s) -

Jie Dong,

Sen Liu,

Kaixiang Peng

Publication year - 2014

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2014/874543

Subject(s) - control theory (sociology) , linearization , feedback linearization , lyapunov function , function (biology) , control (management) , stability (learning theory) , computer science , control engineering , engineering , nonlinear system , artificial intelligence , quantum mechanics , evolutionary biology , machine learning , biology , physics

Standard techniques of I/O linearization are widely applied to leader-follower approach for multirobot formation control. However general leader-follower approach cannot adapt to the environment with obstacles. Concerning that issue, a formation control method of multirobot system based on potential function is proposed in this paper, and a new control law is designed by choosing a proper potential function and employing Lyapunov stability theory, which stabilizes the formation of the multirobot system. We combine the method with a leader-follower approach to solve the problem that the latter cannot avoid obstacles. Simulation results are given to validate the method

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