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• W2336642261 abstract "In literature, leader – follower strategy has been used extensively for formation control of car-like mobile robots with the control law being derived from the kinematics. This work takes it a step further and nonlinear control laws are derived for formation control of car-like mobile robots using robot dynamics. Firstly, a traditional tracking and control design approach already available in literature is derived and discussed for a car-like mobile robot. It involves a decoupled design involving two separate algorithms, one for velocity control design and another for torque control design. Weak interactions among the algorithms and separate designs make the robot performance optimization and the formation stability difficult to achieve. So, a new tracking and control architecture wherein the conventional elements are replaced by a single component that performs all the functions and hence called the integrated tracking and control scheme is used. In a novel approach, the integrated tracking and control scheme is used to obtain a nonlinear control law for each follower in the formation. The controllers are obtained using Lyapunov analysis method and State Dependent Algebraic Riccati Equation (SDARE) based optimal control method. To bring robustness into the controller design, unknown quantities like friction, desired accelerations (unmeasured) are computed using an online neural network and the simulations are carried out in the presence of measurement noises. A robust optimal control design is made possible by using the extra control design approach using online neural networks. Simulation results prove the ability of the controllers to effectively stabilize the formation while maintaining the desired relative distance and bearing." @default.
• W2336642261 created "2016-06-24" @default.
• W2336642261 creator A5077915104 @default.
• W2336642261 creator A5088857366 @default.
• W2336642261 date "2008-01-01" @default.
• W2336642261 modified "2023-09-24" @default.
• W2336642261 title "Formation control of car-like mobile robots" @default.
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• W2336642261 hasPublicationYear "2008" @default.
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