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Distributed network-based formation control

Gu, D and Hu, H (2009) 'Distributed network-based formation control.' International Journal of Systems Science, 40 (5). 539 - 552. ISSN 0020-7721

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Abstract

This article investigates a formation control problem of mobile robots. Two main issues of the formation control problem are addressed; one is the implementation of distributed formation control and another is the analysis of effect of network communication on the closed-loop systems. The distributed formation control is obtained by modelling the formation control problem as a linear-quadratic Nash differential game through the use of graph theory. The obtained distributed controller is a state feedback controller that requires both local state and neighbour robot states. As the neighbour robot states are obtained via networks, the network performance affects the control system. Network-induced delay is considered in this article. The stability analysis of the proposed distributed formation controller under network-induced delay is given. A compensation scheme for network-induced delay is proposed and analysed. Mobile robots with double integrator dynamics are used in the formation control simulation. Simulation results are provided to justify the models and solutions.

Item Type: Article
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Clare Chatfield
Date Deposited: 28 Sep 2012 10:35
Last Modified: 23 Jan 2019 00:16
URI: http://repository.essex.ac.uk/id/eprint/3896

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