Convergence analysis and controller design for a team of mobile robots subject to measurement error

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TypeArticle
Proceedings titleProceedings of the American Control Conference
Conference2011 American Control Conference, ACC 2011, 29 June 2011 through 1 July 2011, San Francisco, CA
ISSN0743-1619
ISBN9781457700804
Article number5991601
Pages33503356; # of pages: 7
SubjectControl laws; Controller designs; Convergence analysis; Convergence properties; Formation control; Leader-follower structures; Nonholonomic model; Relative distances; Relative velocity; Steady state; Steady state errors; Upper Bound; Velocity errors; Wheeled mobile robot; Error analysis; Linear matrix inequalities; Machine design; Measurement errors; Mobile robots; Controllers
AbstractThis paper deals with the steady-state error analysis in the formation control of wheeled mobile robots with leader follower structure. A nonholonomic model is considered for each robot, and it is assumed that each follower is capable of measuring its relative distance and relative velocity with respect to the leader. However, these measurements are assumed to be subject to error. A control law is proposed, and its convergence properties are investigated. Using the linear matrix inequalities (LMI) approach, the upper bounds of the steady state position and velocity errors due to the measurement error are minimized. Simulations demonstrate the efficacy of the results. © 2011 AACC American Automatic Control Council.
Publication date
LanguageEnglish
AffiliationNational Research Council Canada (NRC-CNRC); Aerospace (AERO-AERO)
Peer reviewedYes
NPARC number21271249
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Record identifieredf1cdfb-0e9a-4f4c-b465-c5406c4480f4
Record created2014-03-24
Record modified2016-05-09
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