Formation Control of Multirobot Based on I/O Feedback Linearization and Potential Function. (14th May 2014)

• Record Type: Journal Article
• Authors: Dong, Jie; Liu, Sen; Peng, Kaixiang
• Other Names: Su Housheng Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2014(2014)
• Publication Date: 2014-05-14
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2014/874543
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : Standard techniques of I/O linearization are widely applied to leader-follower approach for multirobot formation control. However general leader-follower approach cannot adapt to the environment with obstacles. Concerning that issue, a formation control method of multirobot system based on potential function is proposed in this paper, and a new control law is designed by choosing a proper potential function and employing Lyapunov stability theory, which stabilizes the formation of the multirobot system. We combine the method with a leader-follower approach to solve the problem that the latter cannot avoid obstacles. Simulation results are given to validate the method.