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

Xin Chen; Min Wu; Yangmin Li

doi:10.1109/CHICC.2008.4605320

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

Xin Chen
, Min Wu
, Yangmin Li

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-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 language	English
Title of host publication	Proceedings of the 27th Chinese Control Conference, CCC
Pages	341-345
Number of pages	5
DOIs	https://doi.org/10.1109/CHICC.2008.4605320
Publication status	Published - 30 Sept 2008
Externally published	Yes
Event	27th Chinese Control Conference, CCC - Kunming, Yunnan, China Duration: 16 Jul 2008 → 18 Jul 2008

Conference

Conference	27th Chinese Control Conference, CCC
Country/Territory	China
City	Kunming, Yunnan
Period	16/07/08 → 18/07/08

Keywords

Adaptive neural network
Formation control
Switched systems

ASJC Scopus subject areas

Control and Systems Engineering

More information

10.1109/CHICC.2008.4605320

Cite this

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title = "Formation control based on adaptive NN with time-varying interaction among robots",

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.",

keywords = "Adaptive neural network, Formation control, Switched systems",

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AU - Chen, Xin

AU - Wu, Min

AU - Li, Yangmin

PY - 2008/9/30

Y1 - 2008/9/30

N2 - 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.

AB - 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.

KW - Adaptive neural network

KW - Formation control

KW - Switched systems

UR - https://www.scopus.com/pages/publications/52449104567

U2 - 10.1109/CHICC.2008.4605320

DO - 10.1109/CHICC.2008.4605320

M3 - Conference article published in proceeding or book

SN - 9787900719706

SP - 341

EP - 345

BT - Proceedings of the 27th Chinese Control Conference, CCC

T2 - 27th Chinese Control Conference, CCC

Y2 - 16 July 2008 through 18 July 2008

ER -

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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