Synchronization control for a swarm of unicycle robots: analysis of different controller topologies

H. Gutiérrez, A. Morales, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

8 Citations (Scopus)
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Abstract

This paper proposes a nonlinear synchronization controller for a swarm of unicycle robots performing a cooperative task, i.e., following a desired trajectory per robot while maintaining a prescribed formation. The effect of communication between robots is analyzed and several network topologies are investigated, e.g., all-to-all, ring type, undirected, among others. The stability analysis of the closed loop system is provided using the Lyapunov method. Experiments with four unicycle robots are presented to validate the control law and communication analysis. Accumulated errors over the experiment time are presented in order to determine which topology is most efficient.

Original languageEnglish
Pages (from-to)1822-1833
Number of pages12
JournalAsian Journal of Control
Volume19
Issue number5
DOIs
Publication statusPublished - 1 Sep 2017

Keywords

  • mobile robots
  • multi-agents
  • nonlinear control
  • Synchronization

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