Leader-Follower Control Strategy with Rigid Body Behavior

J. González-Sierra; E. G. Hernández-Martínez; Enrique D. Ferreira-Vazquez; J. J. Flores-Godoy; G. Fernandez-Anaya; P. Paniagua-Contro

doi:10.1016/j.ifacol.2018.11.539

Leader-Follower Control Strategy with Rigid Body Behavior

J. González-Sierra, E. G. Hernández-Martínez, Enrique D. Ferreira-Vazquez, J. J. Flores-Godoy, G. Fernandez-Anaya, P. Paniagua-Contro

Research output: Contribution to journal › Article › peer-review

7 Scopus citations

Abstract

This work presents a control strategy for a leader-follower formation distance-based model of two single order kinematic model of robots. It uses feedback linearization techniques to derive the control action on the follower robot to maintain a desired distance and orientation with respect to the leader robot. Besides, it is shown that a suitable selection of the desired parameters make the formation behave as a rigid body. The control strategy is applied in a laboratory environment with two omnidirectional robots to show its performance.

Original language	English
Pages (from-to)	184-189
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	51
Issue number	22
DOIs	https://doi.org/10.1016/j.ifacol.2018.11.539
State	Published - 2018

Keywords

Distance-based formation control
Leader-follower control strategy
Multi-robot system
Omnidirectional robots

Access to Document

10.1016/j.ifacol.2018.11.539

Cite this

@article{20af6a579ed84e43b8e13c893a0f46ea,

title = "Leader-Follower Control Strategy with Rigid Body Behavior",

abstract = "This work presents a control strategy for a leader-follower formation distance-based model of two single order kinematic model of robots. It uses feedback linearization techniques to derive the control action on the follower robot to maintain a desired distance and orientation with respect to the leader robot. Besides, it is shown that a suitable selection of the desired parameters make the formation behave as a rigid body. The control strategy is applied in a laboratory environment with two omnidirectional robots to show its performance.",

keywords = "Distance-based formation control, Leader-follower control strategy, Multi-robot system, Omnidirectional robots",

author = "J. Gonz{\'a}lez-Sierra and Hern{\'a}ndez-Mart{\'i}nez, {E. G.} and Ferreira-Vazquez, {Enrique D.} and Flores-Godoy, {J. J.} and G. Fernandez-Anaya and P. Paniagua-Contro",

note = "Publisher Copyright: {\textcopyright} 2018",

year = "2018",

doi = "10.1016/j.ifacol.2018.11.539",

language = "Ingl{\'e}s",

volume = "51",

pages = "184--189",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

number = "22",

}

TY - JOUR

T1 - Leader-Follower Control Strategy with Rigid Body Behavior

AU - González-Sierra, J.

AU - Hernández-Martínez, E. G.

AU - Ferreira-Vazquez, Enrique D.

AU - Flores-Godoy, J. J.

AU - Fernandez-Anaya, G.

AU - Paniagua-Contro, P.

PY - 2018

Y1 - 2018

N2 - This work presents a control strategy for a leader-follower formation distance-based model of two single order kinematic model of robots. It uses feedback linearization techniques to derive the control action on the follower robot to maintain a desired distance and orientation with respect to the leader robot. Besides, it is shown that a suitable selection of the desired parameters make the formation behave as a rigid body. The control strategy is applied in a laboratory environment with two omnidirectional robots to show its performance.

AB - This work presents a control strategy for a leader-follower formation distance-based model of two single order kinematic model of robots. It uses feedback linearization techniques to derive the control action on the follower robot to maintain a desired distance and orientation with respect to the leader robot. Besides, it is shown that a suitable selection of the desired parameters make the formation behave as a rigid body. The control strategy is applied in a laboratory environment with two omnidirectional robots to show its performance.

KW - Distance-based formation control

KW - Leader-follower control strategy

KW - Multi-robot system

KW - Omnidirectional robots

UR - http://www.scopus.com/inward/record.url?scp=85058214601&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2018.11.539

DO - 10.1016/j.ifacol.2018.11.539

M3 - Artículo

AN - SCOPUS:85058214601

SN - 2405-8963

VL - 51

SP - 184

EP - 189

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 22

ER -

Leader-Follower Control Strategy with Rigid Body Behavior

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this