Formation Control of Multirobot Based on I/O Feedback Linearization and Potential Function

Jie Dong, Sen Liu and Kaixiang Peng

Mathematical Problems in Engineering, 2014, vol. 2014, 1-6

Abstract:

Standard techniques of I/O linearization are widely applied to leader-follower approach for multirobot formation control. However general leader-follower approach cannot adapt to the environment with obstacles. Concerning that issue, a formation control method of multirobot system based on potential function is proposed in this paper, and a new control law is designed by choosing a proper potential function and employing Lyapunov stability theory, which stabilizes the formation of the multirobot system. We combine the method with a leader-follower approach to solve the problem that the latter cannot avoid obstacles. Simulation results are given to validate the method.

Date: 2014
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:874543

DOI: 10.1155/2014/874543

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