scholarly journals SDRE based Leader-Follower Formation Control of Multiple Mobile Robots

2014 ◽  
Vol 15 (2) ◽  
Author(s):  
Caio Igor Gonçalves Chinelato ◽  
L.S. Martins-Filho
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Control Method ◽  
Nonlinear Dynamical System ◽  
Control Performance ◽  
Font Size ◽  
Multiple Mobile Robots ◽  
Nonlinear Dynamical ◽  
Control Techniques ◽  
State Dependent

<span style="font-family: T3Font_6; font-size: xx-small;"><span style="font-family: T3Font_6; font-size: xx-small;"><em> <span style="font-size: small;"> </span></em><p class="MsoNormal" style="margin: 0cm 0cm 0pt; text-align: justify;"><em><em style="mso-bidi-font-style: normal;"><span style="font-size: 11pt; mso-bidi-font-size: 10.0pt; mso-ansi-language: EN-US;" lang="EN-US">Formation control of multiple mobile robots is relatively a new area of robotics and increase the control performance and advantages of multiple mobile robots systems. <a name="OLE_LINK72">In this work we present a study concerning the modeling and formation control of a robotic system composed by two mobile robots, where one robot is the leader and the other is follower</a></span></em><em style="mso-bidi-font-style: normal;"><span style="font-size: 11pt; mso-bidi-font-size: 10.0pt; mso-ansi-language: EN-US;" lang="EN-US">. 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.</span></em></em></p><span style="font-size: small;"> </span></span></span>

Combining Two Control Techniques for the Fast Movement of a Two-Wheel Mobile Robot

2015 ◽  
Vol 12 (02) ◽  
pp. 1550020 ◽  
Author(s):  
Sung Taek Cho ◽  
Seul Jung
Keyword(s):  
Control Method ◽  
Experimental Studies ◽  
Forward Direction ◽  
Control Performance ◽  
Pd Control ◽  
Control Approach ◽  
Control Techniques ◽  
Fast Movement ◽  
Control Fusion ◽  
Fusion Approach

Control of two-wheel mobile robots (TWMRs) is quite a challenging subject for researchers and educators. Control performance of TWMRs is to satisfy both stable balancing and position tracking simultaneously. When the TWMR is moving fast in forward direction with a proportional-derivative (PD) control method, fast movement to the desired position can be achieved. However, larger oscillations in both the balancing angle and position occur. The time-delayed control (TDC) method reduces the oscillation, but its response is relatively slow. The goal of this paper is to provide a solution to satisfy both stable balancing and position for fast forward movements. This paper presents a control fusion approach between a PD control method and a TDC method to make the performance better. Two controllers are fused together with different weighting factors on the basis of a sigmoidal function to satisfy the control performance. Experimental studies are conducted to validate the proposed control approach.

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