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Formation Control and Trajectory Tracking of Nonholonomic Mobile Robots
Indian Institute of Technology System (IIT System), Dept Elect Engn, Madras 600036, Tamil Nadu, India.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.ORCID iD: 0000-0003-2484-5502
University of California San Diego,Dept Mech Engn, La Jolla, CA 92093 USA .
Indian Institute of Technology System (IIT System), Dept Elect Engn, Madras 600036, Tamil Nadu, India.
2018 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 26, no 6, p. 2250-2258Article in journal (Refereed) Published
Abstract [en]

In this brief, we design Lyapunov-based control laws to achieve two multi-objective tasks for a network of open-loop unstable, nonholonomic mobile inverted pendulum (MIP) robots, using a connected undirected graph for inter-agent communication. Using the first protocol, translationally invariant formations are achieved along with the synchronization of attitudes and heading velocities to desired values. Using the second protocol, the robots move into a formation and asymptotically track a trajectory. The control laws are based on the kinematic model of the mobile robot, and control torques for the MIPs are extracted using a two-loop control architecture. Both the protocols guarantee boundedness of the linear heading velocity, which is necessary for the stability of the two-loop control architecture. The proposed control laws are experimentally validated on indigenously built MIP robots.

Place, publisher, year, edition, pages
IEEE, 2018. Vol. 26, no 6, p. 2250-2258
Keywords [en]
Mobile robots, Synchronization, Robot kinematics, Attitude control, Trajectory
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-71363DOI: 10.1109/TCST.2017.2749563ISI: 000447047900030Scopus ID: 2-s2.0-85030753674OAI: oai:DiVA.org:ltu-71363DiVA, id: diva2:1259218
Note

Validerad;2018;Nivå 2;2018-10-29 (johcin)

Available from: 2018-10-29 Created: 2018-10-29 Last updated: 2018-10-29Bibliographically approved

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Muralidharan, Vijay

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