Coordinated formation control of wheeled mobile robots with switching communication topologies

Stable Switching Control of Wheeled Mobile Robots

Dynamical formation control of wheeled mobile robots based on fuzzy logic

In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

Passivity-Based Switching Control for Stabilization of Wheeled Mobile Robots

We propose a novel switching control law for the posture stabilization of a wheeled mobile robot, that utilizes the (energetic) passivity of the system's open-loop dynamics with non-negligible inertial effects. The proposed passivity-based switching control law ensures that the robot's (x, y)-position enters into an arbitrarily small (as speci ed by user-designed error-bound) level set of a cer...

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

Stable formation control for a team of wheeled mobile robots

This paper presents a novel control algorithm and visual measurement for the autonomous navigation of a non-holonomic robot team while preserving a specified formation. The control errors are defined relative to the leader robot of the team in terms of the actual position of each robot and its desired position in the formation. The stability analysis as well as a robustness analysis for the pro...