A synchronization control strategy for multiple robot systems using shape regulation technology

Can Wang; Dong Sun

doi:10.1109/WCICA.2008.4592968

A synchronization control strategy for multiple robot systems using shape regulation technology

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

6 Citations (Scopus)

Abstract

This article presents a synchronization control strategy, which can be applied to formation control of swarm of robots. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Then a shape regulation technology concerning switching between formations is developed to help apply our control concept. Simulations are performed on a group of twenty fully-actuated mobile robots in switching tasks between some common shapes. © 2008 IEEE.

Original language	English
Title of host publication	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Pages	467-472
DOIs	https://doi.org/10.1109/WCICA.2008.4592968
Publication status	Published - 2008
Event	7th World Congress on Intelligent Control and Automation, WCICA'08 - Chongqing, China Duration: 25 Jun 2008 → 27 Jun 2008

Conference

Conference	7th World Congress on Intelligent Control and Automation, WCICA'08
Place	China
City	Chongqing
Period	25/06/08 → 27/06/08

Research Keywords

Formation
Mobile robots
Synchronization

Access Output

10.1109/WCICA.2008.4592968

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

@inproceedings{b2b69a420b3c48cd80caa311833624d9,

title = "A synchronization control strategy for multiple robot systems using shape regulation technology",

abstract = "This article presents a synchronization control strategy, which can be applied to formation control of swarm of robots. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Then a shape regulation technology concerning switching between formations is developed to help apply our control concept. Simulations are performed on a group of twenty fully-actuated mobile robots in switching tasks between some common shapes. {\textcopyright} 2008 IEEE.",

keywords = "Formation, Mobile robots, Synchronization",

author = "Can Wang and Dong Sun",

year = "2008",

doi = "10.1109/WCICA.2008.4592968",

language = "English",

isbn = "9781424421145",

pages = "467--472",

booktitle = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

note = "7th World Congress on Intelligent Control and Automation, WCICA'08 ; Conference date: 25-06-2008 Through 27-06-2008",

}

A synchronization control strategy for multiple robot systems using shape regulation technology. / Wang, Can; Sun, Dong.
Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2008. p. 467-472 4592968.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - A synchronization control strategy for multiple robot systems using shape regulation technology

AU - Wang, Can

AU - Sun, Dong

PY - 2008

Y1 - 2008

N2 - This article presents a synchronization control strategy, which can be applied to formation control of swarm of robots. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Then a shape regulation technology concerning switching between formations is developed to help apply our control concept. Simulations are performed on a group of twenty fully-actuated mobile robots in switching tasks between some common shapes. © 2008 IEEE.

AB - This article presents a synchronization control strategy, which can be applied to formation control of swarm of robots. A decentralized trajectory tracking controller is developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Then a shape regulation technology concerning switching between formations is developed to help apply our control concept. Simulations are performed on a group of twenty fully-actuated mobile robots in switching tasks between some common shapes. © 2008 IEEE.

KW - Formation

KW - Mobile robots

KW - Synchronization

UR - http://www.scopus.com/inward/record.url?scp=52149116473&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-52149116473&origin=recordpage

U2 - 10.1109/WCICA.2008.4592968

DO - 10.1109/WCICA.2008.4592968

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781424421145

SP - 467

EP - 472

BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

T2 - 7th World Congress on Intelligent Control and Automation, WCICA'08

Y2 - 25 June 2008 through 27 June 2008

ER -

A synchronization control strategy for multiple robot systems using shape regulation technology

Abstract

Conference

Research Keywords

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this