Open AccessA Stable Control Algorithm for Multi Robot Formation
Author(s) -
Nikola Shakev,
Andon V. Topalov,
Sevil Ahmed,
Vasil L. Popov
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/618/1/012008
Subject(s) - convergence (economics) , robot , trajectory , nonholonomic system , computer science , control theory (sociology) , controller (irrigation) , lyapunov function , control (management) , control engineering , tracking (education) , mobile robot , artificial intelligence , engineering , nonlinear system , psychology , pedagogy , physics , astronomy , quantum mechanics , agronomy , economics , biology , economic growth
This paper presents the developed trajectory tracking controller for a formation of nonholonomic robots, which combines features from the leader-follower and virtual-structure approaches. The implemented decentralized control strategy allows the robots to be relatively independent and to switch easily between the executed individual tasks and the collective tasks. Convergence is thoroughly analyzed and guarantied using the Lyapunov approach.