Title
Cooperative Control Of Dynamical Systems With Application To Mobile Robot Formation
Keywords
Cooperative control; Mobile robots; Stability
Abstract
In this paper, the cooperative control strategies are studied for a class of general multiple input multiple output (MIMO) nonlinear systems. For the given two classes of cooperative control objectives, the least-restriction conditions on the design of feedback gain matrices of cooperative controls are established, respectively. Stability of overall closed-loop system is rigorously proved by using the new convergence properties of a sequence of row stochastic matrices. The proposed cooperative control strategies can be easily applied to formation control of a group of mobile robots.
Publication Date
1-1-2004
Publication Title
IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume
37
Issue
11
Number of Pages
61-66
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1016/S1474-6670(17)31590-2
Copyright Status
Unknown
Socpus ID
84895228398 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/84895228398
STARS Citation
Qu, Zhihua; Wang, Jing; and Hull, Richard A., "Cooperative Control Of Dynamical Systems With Application To Mobile Robot Formation" (2004). Scopus Export 2000s. 5494.
https://stars.library.ucf.edu/scopus2000/5494