TY - GEN
T1 - Decentralized coordination control for formation stability of autonomous robotic systems
AU - Guo, Yi
PY - 2006
Y1 - 2006
N2 - Formation stability of a group of autonomous robotic systems is considered in the paper. We design cooperative control scheme in the framework of Lyapunov theorem for general linear dynamic systems. Decentralized control laws are explicitly constructed for individual systems with inter-system communications. Simulations show asymptotically tracking of a time-varying trajectory with pre-designated formation for a group of dynamic agents.
AB - Formation stability of a group of autonomous robotic systems is considered in the paper. We design cooperative control scheme in the framework of Lyapunov theorem for general linear dynamic systems. Decentralized control laws are explicitly constructed for individual systems with inter-system communications. Simulations show asymptotically tracking of a time-varying trajectory with pre-designated formation for a group of dynamic agents.
KW - Consensus protocol
KW - Decentralized control
KW - Formation control
KW - Lyapunov theory
UR - http://www.scopus.com/inward/record.url?scp=34247279727&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34247279727&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2006.257453
DO - 10.1109/ICMA.2006.257453
M3 - Conference contribution
AN - SCOPUS:34247279727
SN - 1424404665
SN - 9781424404667
T3 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
SP - 61
EP - 65
BT - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
T2 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Y2 - 25 June 2006 through 28 June 2006
ER -