FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP

Authors

  • Youwei Dong Ecole Centrale de Lille, Cité Scientifique - CS20048, 59651 Villeneuve d’Ascq Cedex, France
  • Ahmed Rahmani Ecole Centrale de Lille, Cité Scientifique - CS20048, 59651 Villeneuve d’Ascq Cedex, France

DOI:

https://doi.org/10.14311/APP.2016.56.0001

Keywords:

formation control, multi-robot system, unicycle-type robot, Lie group, Lie algebra

Abstract

In this paper the formation control of a multi-robots system is investigated. The proposed control law, based on Lie group theory, is applied to control the formation of a group of unicycle-type robots. The communication topology is supposed to be a rooted directed acyclic graph and fixed. Some numerical simulations using Matlab are made to validate our results.

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Published

2016-02-29

How to Cite

Dong, Y., & Rahmani, A. (2016). FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP. Acta Polytechnica, 56(1), 1–9. https://doi.org/10.14311/APP.2016.56.0001

Issue

Vol. 56 No. 1 (2016)

Section

Articles