Formation control based on adaptive NN with time-varying interaction among robots

Xin Chen, Min Wu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

Abstract

This paper addresses a formation control issue for a group of robots with dynamic interaction topology. Normally given a formation shape (pattern), if interaction topology changes from time to time, formation control developed for continuous systems may fail to keep formation, because the system may be not continuous any longer. This paper introduces a decentralized formation control to realize formation. Moreover based on analysis of switched systems, the sufficient conditions on formation pattern and interaction topology are fingered out to ensure the feasibility of this formation control, even if the interaction topology often changes suddenly. The simulation illustrates that within a field with obstacles, which may interrupt interaction between robots, a leader-following formation must reach the destination by using this formation control.
Original languageEnglish
Title of host publicationProceedings of the 27th Chinese Control Conference, CCC
Pages341-345
Number of pages5
DOIs
Publication statusPublished - 30 Sep 2008
Externally publishedYes
Event27th Chinese Control Conference, CCC - Kunming, Yunnan, China
Duration: 16 Jul 200818 Jul 2008

Conference

Conference27th Chinese Control Conference, CCC
CountryChina
CityKunming, Yunnan
Period16/07/0818/07/08

Keywords

  • Adaptive neural network
  • Formation control
  • Switched systems

ASJC Scopus subject areas

  • Control and Systems Engineering

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