Output Feedback Nonlinear H-infinity Control of Wheeled Mobile Robots Formation

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Author(s):	Francisco, Tatiane B. R. ; Terra, Marco H. ; Siqueira, Adriano A. G. ; IEEE Total Authors: 4
Document type:	Journal article
Source:	2008 MEDITERRANEAN CONFERENCE ON CONTROL AUTOMATION, VOLS 1-4; v. N/A, p. 2-pg., 2008-01-01.
Abstract
This paper presents a procedure to design robust controllers for a group of wheeled mobile robots (WMRs) in formation. Wheeled mobile robots exchange informations according to a pre-specified communication digraph. Stable motions are generated by a decentralized control law based on the robots coordinates. In addition, the nonlinear dynamic equations of the robots are described in state-space form where the parameters matrices depend on the angular velocities of the wheels. Output feedback controllers based on nonlinear R. approaches are designed in order to guarantee the stability formation. Results obtained from simulation illustrate the effectiveness of this procedure. (AU)