Observer-Based Leader-Following Formation Control Using Onboard Sensor Information
| Autor: | Tove Gustavi, Xiaoming Hu |
|---|---|
| Rok vydání: | 2008 |
| Předmět: |
Robot kinematics
Engineering Adaptive control Observer (quantum physics) business.industry Multi-agent system Control engineering Mobile robot Nonlinear control Computer Science Applications Control and Systems Engineering Control system Information system Electrical and Electronic Engineering business |
| Zdroj: | IEEE Transactions on Robotics. 24:1457-1462 |
| ISSN: | 1941-0468 1552-3098 |
| DOI: | 10.1109/tro.2008.2006244 |
| Popis: | In this paper, leader-following formation control for mobile multiagent systems with limited sensor information is studied. The control algorithms developed require information available from onboard sensors only, and in particular, the measurement of the leader (neighbor) speed is not needed. Instead, an observer is designed for the estimation of this speed. With the proposed control algorithms as building blocks, many complex formations can be obtained. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|