C. Rosales, F. Rossomando, L. Salinas, J. Gimenez, R. Carelli
{"title":"Unified control solution for mobile robot formations","authors":"C. Rosales, F. Rossomando, L. Salinas, J. Gimenez, R. Carelli","doi":"10.1109/ICUAS51884.2021.9476675","DOIUrl":null,"url":null,"abstract":"This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICUAS51884.2021.9476675","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
