Coordinated path following control of multiple wheeled robots using linearization techniques

International Journal of Systems Science

Volumn 37, Issue 6, 2006, Pages 399-414

  Ghabcheloo, R ^a   Pascoal, A ^a   Silvestre, C ^a   Kaminer, I ^b  

^a INSTITUTE FOR SYSTEMS AND ROBOTICS   (Portugal)

^b Naval Postgraduate School   (United States)

Author keywords

Coordinated motion control; Gain scheduling; Linearization; Path following; Trimming trajectories; Wheeled robots

Indexed keywords

EID: 33947493815     PISSN: 00207721     EISSN: 14645319     Source Type: Journal    
DOI: 10.1080/00207720500438324     Document Type: Article

References (23)

1. R. Beard, J. Lawton and F. Hadaegh, “A coordination architecture for spacecraft formation control”, IEEE Trans. Control Syst. Technol., 9, pp. 777-790, 2001.
2. J. Desai, J. Otrowski and V. Kumar, “Controlling formations of multiple robots”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA98), 1998, pp. 2864-2869.
3. P. Encarnacao and A. Pascoal, “Combined trajectory tracking and path following: an application to the coordinated control of marine craft”, in Proceedings of the IEEE Conference on Decision and Control (CDC’2001), Orlando, FL, 2001.
4. A. Fax and R. Murray, “Information flow and cooperative control of vehicle formations”, in Proceedings of the 2002 IFAC World Congress, Barcelona, 2002a.
5. A. Fax and R. Murray, “Graph Laplacians and stabilization of vehicle formations”, in Proceedings of the 2002 IFAC World Congress, Barcelona, 2002b.
6. T. Ghabcheloo, A. Pascoal and C. Silvestre, Coordinated path following control using linearization techniques. Internal Report CPF01, Institute for Systems and Robotics, January 2004.
7. F. Giuletti, L. Pollini and M. Innocenti, “Autonomous formation flight”, IEEE Control Syst. Mag., 20, pp. 34-44, 2000.
8. I. Kaminer, A. Pascoal, P. Khargonekar and E. Coleman, “A velocity algorithm for the implementation of gain-scheduled controllers”, Automatica, 31, pp. 1185-1191, 1995.
9. I. Kaminer, A. Pascoal, E. Hallberg and C. Silvestre, “Trajectory tracking for autonomous vehicles: an integrated approach to guidance and control”, J. Guid. Control Dynam., 21, pp. 29-38, 1998.
10. H.K. Khalil, in Nonlinear Systems, 3rd ed., Upper Saddle River, NJ: Pearson Education, 2000.
11. L. Lapierre, D. Soetanto and A. Pascoal, “Coordinated motion control of marine robots”, in Proceedings of the 6th IFAC Conference on Manoeuvering and Control of Marine Craft (MCMC2003), Girona, Spain, 2003a.
12. R. Lapierre, D. Soetanto and A. Pascoal, “Nonlinear path following control of autonomous underwater vehicles”, in Proceedings of the 1st IFAC Conference on Guidance and Control of Underwater Vehicles (GCUV’03), Newport, UK, 2003b.
13. A. Micaelli and C. Samson, “Path following and time-varying feedback stabilization of a wheeled robot”, in Proceedings of the International Conference ICARCV’92, Singapore, 1992.
14. A. Micaelli and C. Samson, “Trajectory-tracking for unicycle-type and two-steering-wheels mobile robots”, Technical Report No. 2097, INRIA, Sophia-Antipolis France, 1993.
15. P. Ogren, M. Egerstedt and X. Hu, “A control lyapunov function approach to multiagent coordination”, IEEE Trans. Robot. Autom., 18, pp. 847-851, 2002.
16. A. Pascoal et al, “Robotic ocean vehicles for marine science applications: the european ASIMOV Project”, in Proceedings of the OCEANS’2000 MTS/IEEE, Rhode Island, Providence, USA, 2000.
17. M. Pratcher, J. D”Azzo and A. Proud, “Tight formation control”, J. Guid. Control Dynam., 24, pp. 246-254, 2001.
18. M. Queiroz, V. Kapila and Q. Yan, “Adaptive nonlinear control of multiple spacecraft formation flying”, J. Guid. Control Dynam., 23, pp. 385-390, 2000.
19. C. Silvestre, “Multi-objective optimization theory with applications to the integrated design of controllers/plants for autonomous vehicles”. PhD thesis in English, Instituto Superior Tecnico, Lisbon, Portugal (2000).
20. C. Silvestre, A. Pascoal and I. Kaminer, “On the design of gain scheduled trajectory tracking controllers”, Int. J. Robust Nonlinear Control, 12, pp. 797-839, 2002.
21. R. Skjetne, S. Moi and T. Fossen, “Nonlinear formation control of marine craft”, in Proceedings of the IEEE Conference on Decision and Control (CDC2002), Las Vegas, NV, 2002.
22. R. Skjetne, I. Flakstad and T. Fossen, “Formation control by synchronizing multiple maneuvering systems”, in Proceedings of the 6th IFAC Conference on Manoeuvering and Control of Marine Craft (MCMC2003), Girona, Spain, 2003.
23. D. Stilwell and B. Bishop, “Platoons of underwater vehicles”, IEEE Control Syst. Mag., December, pp. 45-52, 2000.