Cooperative Control of Multiple Nonholonomic Mobile Agents Export

@article{DongFarrell_TAC08, abstract = {This paper considers two cooperative control problems for nonholonomic mobile agents. In the first problem, we discuss the design of cooperative control laws such that a group of nonholonomic mobile agents cooperatively converges to some stationary point under various communication scenarios. Dynamic control laws for each agent are proposed with the aid of sigma-processes and results from graph theory. In the second problem, we discuss the design of cooperative control laws such that a group of mobile agents converges to and tracks a target point which moves along a desired trajectory under various communication scenarios. By introducing suitable variable transformations, cooperative control laws are proposed. Since communication delay is inevitable in cooperative control, in each of the above cooperative control problems, we analyze the effect of delayed communication on the proposed controllers. As applications of the proposed results, formation control of wheeled mobile robots is discussed. It is shown that our results can be successfully used to solve formation control problem. To show effectiveness of the proposed approach, simulation results are included.}, author = {Dong, Wenjie and Farrell, J. A.}, booktitle = {Automatic Control, IEEE Transactions on}, citeulike-article-id = {3444552}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/TAC.2008.925852}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4610021}, doi = {10.1109/TAC.2008.925852}, journal = {Automatic Control, IEEE Transactions on}, keywords = {consensus, cooperative\_control, formation\_control, mobile\_robots, time\_delay\_topology}, number = {6}, pages = {1434--1448}, posted-at = {2008-10-23 23:07:24}, priority = {2}, title = {Cooperative Control of Multiple Nonholonomic Mobile Agents}, url = {http://dx.doi.org/10.1109/TAC.2008.925852}, volume = {53}, year = {2008} }

TY - JOUR ID - DongFarrell_TAC08 L3 - citeulike-article-id:3444552 N2 - This paper considers two cooperative control problems for nonholonomic mobile agents. In the first problem, we discuss the design of cooperative control laws such that a group of nonholonomic mobile agents cooperatively converges to some stationary point under various communication scenarios. Dynamic control laws for each agent are proposed with the aid of sigma-processes and results from graph theory. In the second problem, we discuss the design of cooperative control laws such that a group of mobile agents converges to and tracks a target point which moves along a desired trajectory under various communication scenarios. By introducing suitable variable transformations, cooperative control laws are proposed. Since communication delay is inevitable in cooperative control, in each of the above cooperative control problems, we analyze the effect of delayed communication on the proposed controllers. As applications of the proposed results, formation control of wheeled mobile robots is discussed. It is shown that our results can be successfully used to solve formation control problem. To show effectiveness of the proposed approach, simulation results are included. IS - 6 JF - Automatic Control, IEEE Transactions on EP - 1448 TI - Cooperative Control of Multiple Nonholonomic Mobile Agents VL - 53 T2 - Automatic Control, IEEE Transactions on SP - 1434 KW - consensus KW - cooperative_control KW - formation_control KW - mobile_robots KW - time_delay_topology AU - Dong, Wenjie AU - Farrell, JA PY - 2008/// UR - http://dx.doi.org/10.1109/TAC.2008.925852 ER -