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

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

7 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Páginas (desde-hasta)184-189
Número de páginas6
PublicaciónIFAC-PapersOnLine
Volumen51
N.º22
DOI
EstadoPublicada - 2018

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