Rosales, Claudio (CONICET - Universidad Nacional de San Juan), Rossomando, Francisco (CONICET - Universidad Nacional de San Juan), Salinas, Lucio Rafael (CONICET - Universidad Nacional de San Juan), Gimenez, Javier (CONICET - Universidad Nacional de San Juan), Carelli, Ricardo (CONICET - Universidad Nacional de San Juan)

Unified Control Solution for Mobile Robot Formations

Scheduled for presentation during the Regular Session "Swarms II" (FrD3), Friday, June 18, 2021, 17:00−17:20, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 23, 2024

Abstract

This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.