TY - GEN
T1 - A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation
AU - Brandao, Alexandre Santos
AU - Martins, Felipe Nascimento
AU - Rampinelli, Vinicius Thiago Lecco
AU - Sarcinelli-Filho, Mario
AU - Bastos-Filho, Teodiano Freire
AU - Carelli, Ricardo
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - robotics
KW - robotica
U2 - 10.1109/ICMECH.2009.4957216
DO - 10.1109/ICMECH.2009.4957216
M3 - Contribution to conference proceeding
SN - 9781424441952
SP - 1
EP - 6
BT - 2009 IEEE International Conference on Mechatronics
ER -