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

H. Gutiérrez, A. Morales, H. Nijmeijer

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

10 Citaten (Scopus)
2 Downloads (Pure)

Samenvatting

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.

Originele taal-2Engels
Pagina's (van-tot)1822-1833
Aantal pagina's12
TijdschriftAsian Journal of Control
Volume19
Nummer van het tijdschrift5
DOI's
StatusGepubliceerd - 1 sep 2017

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