A Stable Formation Control Using Approximation of Translational and Angular Accelerations | Zendy

Viet-Hong Tran | Zendy; Suk-Gyu Lee | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

A Stable Formation Control Using Approximation of Translational and Angular Accelerations

Author(s) -

Viet-Hong Tran,

Suk-Gyu Lee

Publication year - 2011

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/10530

Subject(s) - computer science , control theory (sociology) , holonomic , control (management) , simple (philosophy) , robot , scheme (mathematics) , oscillation (cell signaling) , angular velocity , inertial frame of reference , artificial intelligence , mathematics , classical mechanics , physics , mathematical analysis , philosophy , epistemology , biology , genetics

In this paper, a stable leader-following formation control for multiple non-holonomic mobile robot systems using only limited on-board sensor information is proposed. The control can be used for the conventional single leader – single follower (SLSF) or for novel two leaders – single follower (TLSF) schemes. The control algorithm utilizes estimations of the leaders' translational and angular accelerations in a simple form to reduce the measurement of indirect information. Simulation results show that the TLSF scheme can suppress the oscillation and damping in formation of large robot teams

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research