A framework for multi-task formation control of nonholonomic robotic systems

Junjie Zhang, Jingang Yi, Suhada Jayasuriya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In practical applications, multi-robot systems may have to simultaneously deal with several tasks: collision-free maneuvers in dynamic environments; tracking certain desired trajectories; forming suitable patterns or geometrical shapes, and/or varying the pattern when necessary. The proposed formation control scheme in this paper addresses these issues. First a dynamic model for a nonholonomic robot prototype is developed. Tracking control is then realized by employing input-output feedback linearization. To achieve typical complex formation missions, a two-layer hierarchical architecture is proposed. At the upper layer, a null-space method is utilized to prioritize the tasks of the robot team and to generate reference trajectories for formation control. In the lower layer, the control scheme for each individual robot guarantees asymptotic tracking of the desired trajectories. Numerical simulations of a realistic case study illustrate the effectiveness of the proposed framework.

Original languageEnglish (US)
Title of host publication2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
Pages783-790
Number of pages8
EditionPART A
StatePublished - 2009
Externally publishedYes
Event2008 ASME Dynamic Systems and Control Conference, DSCC 2008 - Ann Arbor, MI, United States
Duration: Oct 20 2008Oct 22 2008

Publication series

Name2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
NumberPART A

Other

Other2008 ASME Dynamic Systems and Control Conference, DSCC 2008
Country/TerritoryUnited States
CityAnn Arbor, MI
Period10/20/0810/22/08

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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