Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges
This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. The robot velocities are not required for...
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| Format: | Journal Article |
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Elsevier Science BV
2009
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| Online Access: | http://hdl.handle.net/20.500.11937/34223 |
| _version_ | 1848754164253851648 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. The robot velocities are not required for control implementation. For each robot an interlaced observer, which is a reduced order observer plus an interlaced term, is designed to estimate the robot unmeasured velocities. The observer design is based on a coordinate transformation that transforms the robot dynamics to a new dynamics, which does not contain velocity quadratic terms. The interlaced term is determined after the formation control design is completed to void difficulties due to observer errors and consideration of collision avoidance. Smooth and p times differentiable jump functions are introduced and incorporated into novel potential functions to design a formation tracking control system. Despite the robot limited sensing ranges, no switchings are needed to solve the collision avoidance problem. Simulations illustrate the results. © 2008 Elsevier B.V. All rights reserved. |
| first_indexed | 2025-11-14T08:36:03Z |
| format | Journal Article |
| id | curtin-20.500.11937-34223 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T08:36:03Z |
| publishDate | 2009 |
| publisher | Elsevier Science BV |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-342232017-09-13T15:08:24Z Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges Do, Khac Duc This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. The robot velocities are not required for control implementation. For each robot an interlaced observer, which is a reduced order observer plus an interlaced term, is designed to estimate the robot unmeasured velocities. The observer design is based on a coordinate transformation that transforms the robot dynamics to a new dynamics, which does not contain velocity quadratic terms. The interlaced term is determined after the formation control design is completed to void difficulties due to observer errors and consideration of collision avoidance. Smooth and p times differentiable jump functions are introduced and incorporated into novel potential functions to design a formation tracking control system. Despite the robot limited sensing ranges, no switchings are needed to solve the collision avoidance problem. Simulations illustrate the results. © 2008 Elsevier B.V. All rights reserved. 2009 Journal Article http://hdl.handle.net/20.500.11937/34223 10.1016/j.robot.2008.03.006 Elsevier Science BV restricted |
| spellingShingle | Do, Khac Duc Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title | Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_full | Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_fullStr | Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_full_unstemmed | Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_short | Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_sort | output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| url | http://hdl.handle.net/20.500.11937/34223 |