Abstract

<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>

Highlights

  • Formation control of multiple robots have drawn an extensive research attention in robotics and control community recently

  • In this work we study two mobile robots

  • The main advantages of formation control are reliability, adaptability, flexibility and perform complex missions and tasks that would be certainly impracticable for a single mobile robot

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Summary

Introduction

Formation control of multiple robots have drawn an extensive research attention in robotics and control community recently. The main approaches and strategies proposed in the literature for the formation control are virtual structure, behavior based and leader-follower [3],[12],[13]. SDRE BASED LEADER-FOLLOWER FORMATION CONTROL OF MULTIPLE MOBILE ROBOTS The strategy used in this work is the leader-follower approach.

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