Open AccessCoordinated formation control of wheeled mobile robots with switching communication topologies
Author(s) -
Wang Zhanxiu,
Liu Tengfei
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.6241
Subject(s) - double integrator , control theory (sociology) , kinematics , mobile robot , network topology , holonomic , holonomic constraints , robot , constraint (computer aided design) , topology (electrical circuits) , computer science , nonholonomic system , acceleration , control engineering , control (management) , engineering , physics , artificial intelligence , mechanical engineering , electrical engineering , classical mechanics , operating system
The coordinated formation control of wheeled mobile robots (WMRs) with directed and switching communication topologies is studied. In particular, together with the non‐holonomic constraint, physical constraints on the velocity, acceleration and angular velocity are taken into account. Through dynamic feedback linearisation, the kinematic model of each robot is transformed into a double‐integrator subject to the physical constraints. Then, coordinated controllers with successive loops are developed for the formation control. The problem caused by the physical constraints is solved by introducing saturations to the control loops. It is proved that each controlled WMR admits an invariant set property, and the formation control objective is achievable as long as a mild joint connectivity condition is satisfied by the communication topology.