SDRE based Leader-Follower Formation Control of Multiple Mobile Robots | Zendy

Caio Igor Gonçalves Chinelato | Zendy; Luiz S. MartinsFilho | Zendy

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SDRE based Leader-Follower Formation Control of Multiple Mobile Robots

Author(s) -

Caio Igor Gonçalves Chinelato,

Luiz S. MartinsFilho

Publication year - 2014

Publication title -

tema (são carlos)

Language(s) - English

Resource type - Journals

eISSN - 2179-8451

pISSN - 1677-1966

DOI - 10.5540/tema.2014.015.02.0195

Subject(s) - font , span (engineering) , mathematics , computer science , control (management) , control theory (sociology) , artificial intelligence , engineering , civil engineering

Formation control of multiple mobile robots is relatively a new area of robotics and increase the control performance and advantages of multiple mobile robots systems. In this work we present a study concerning the modeling and formation control of a robotic system composed by two mobile robots, where one robot is the leader and the other is follower . The system is a nonlinear dynamical system and cannot be controlled by traditional linear control techniques. The control strategy proposed is the SDRE (State-Dependent Riccati Equation) method. Simulations results with the software Matlab show the efficiency of the control method.

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