SDRE based leader-follower formation control of multiple mobile robots

Detalhes bibliográficos
Autor(a) principal: Chinelato,C.I.G.
Data de Publicação: 2014
Outros Autores: Martins-Filho,L.S.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: TEMA (Sociedade Brasileira de Matemática Aplicada e Computacional. Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2179-84512014000200006
Resumo: Formation control of multiple mobile robots is a relatively new research 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, the leader robot and the follower robot. 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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spelling SDRE based leader-follower formation control of multiple mobile robotsformation controlmulti-robot systemsmobile robotsnonlinear dynamical systemsSDRE controlFormation control of multiple mobile robots is a relatively new research 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, the leader robot and the follower robot. 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.Sociedade Brasileira de Matemática Aplicada e Computacional2014-08-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S2179-84512014000200006TEMA (São Carlos) v.15 n.2 2014reponame:TEMA (Sociedade Brasileira de Matemática Aplicada e Computacional. Online)instname:Sociedade Brasileira de Matemática Aplicada e Computacionalinstacron:SBMAC10.5540/tema.2014.015.02.0195info:eu-repo/semantics/openAccessChinelato,C.I.G.Martins-Filho,L.S.eng2014-09-10T00:00:00Zoai:scielo:S2179-84512014000200006Revistahttp://www.scielo.br/temaPUBhttps://old.scielo.br/oai/scielo-oai.phpcastelo@icmc.usp.br2179-84511677-1966opendoar:2014-09-10T00:00TEMA (Sociedade Brasileira de Matemática Aplicada e Computacional. Online) - Sociedade Brasileira de Matemática Aplicada e Computacionalfalse
dc.title.none.fl_str_mv SDRE based leader-follower formation control of multiple mobile robots
title SDRE based leader-follower formation control of multiple mobile robots
spellingShingle SDRE based leader-follower formation control of multiple mobile robots
Chinelato,C.I.G.
formation control
multi-robot systems
mobile robots
nonlinear dynamical systems
SDRE control
title_short SDRE based leader-follower formation control of multiple mobile robots
title_full SDRE based leader-follower formation control of multiple mobile robots
title_fullStr SDRE based leader-follower formation control of multiple mobile robots
title_full_unstemmed SDRE based leader-follower formation control of multiple mobile robots
title_sort SDRE based leader-follower formation control of multiple mobile robots
author Chinelato,C.I.G.
author_facet Chinelato,C.I.G.
Martins-Filho,L.S.
author_role author
author2 Martins-Filho,L.S.
author2_role author
dc.contributor.author.fl_str_mv Chinelato,C.I.G.
Martins-Filho,L.S.
dc.subject.por.fl_str_mv formation control
multi-robot systems
mobile robots
nonlinear dynamical systems
SDRE control
topic formation control
multi-robot systems
mobile robots
nonlinear dynamical systems
SDRE control
description Formation control of multiple mobile robots is a relatively new research 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, the leader robot and the follower robot. 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.
publishDate 2014
dc.date.none.fl_str_mv 2014-08-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2179-84512014000200006
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S2179-84512014000200006
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.5540/tema.2014.015.02.0195
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Sociedade Brasileira de Matemática Aplicada e Computacional
publisher.none.fl_str_mv Sociedade Brasileira de Matemática Aplicada e Computacional
dc.source.none.fl_str_mv TEMA (São Carlos) v.15 n.2 2014
reponame:TEMA (Sociedade Brasileira de Matemática Aplicada e Computacional. Online)
instname:Sociedade Brasileira de Matemática Aplicada e Computacional
instacron:SBMAC
instname_str Sociedade Brasileira de Matemática Aplicada e Computacional
instacron_str SBMAC
institution SBMAC
reponame_str TEMA (Sociedade Brasileira de Matemática Aplicada e Computacional. Online)
collection TEMA (Sociedade Brasileira de Matemática Aplicada e Computacional. Online)
repository.name.fl_str_mv TEMA (Sociedade Brasileira de Matemática Aplicada e Computacional. Online) - Sociedade Brasileira de Matemática Aplicada e Computacional
repository.mail.fl_str_mv castelo@icmc.usp.br
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