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A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation

A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation

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This paper presents a multi-layer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which compensates for each robot dynamics. The controller is able to guide the robots to the desired formation, including the possibility of time-varying position and/or shape. Stability analysis is performed for the closed-loop system, and the result is that the formation errors are ultimately bounded. Finally, simulation results for a group of three unicycle-like mobile robots are presented, which show that system performance is improved when the adaptive dynamic compensation layer is included in the formation control scheme. © 2009 IEEE.

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OrganisatieHanzehogeschool Groningen
LectoraatSensors and Smart Systems
Gepubliceerd in2009 IEEE International Conference on Mechatronics Pagina's: 1-6
Jaar2009
TypeConferentiebijdrage
DOI10.1109/ICMECH.2009.4957216
TaalEngels

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