@inproceedings{8807c063114e4921a36f427d076668f2,
title = "Region-based shape control for multi-robot systems with uncertain kinematics and dynamics",
abstract = "This paper is devoted to the shape control problem of multi-robot systems with uncertain kinematics and dynamics. An adaptive control method is proposed, based on which the closed-loop systems satisfy the region shape and collision avoidance requirements in task space. Using the Lyapunov-like function and the Barbalat{\textquoteright}s lemma, a theoretical analysis on the motion of the robot end-effectors is proposed. Simulation results illustrate the feasibility and effectiveness of our controller.",
keywords = "Adaptive control, Shape control, Task space, Uncertain kinematics",
author = "Jia Yu and Yingmin Jia and Changqing Chen",
note = "Publisher Copyright: {\textcopyright} Springer-Verlag Berlin Heidelberg 2016.; Chinese Intelligent Systems Conference, CISC 2015 ; Conference date: 01-01-2015",
year = "2016",
doi = "10.1007/978-3-662-48386-2\_23",
language = "英语",
isbn = "9783662483848",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "213--221",
editor = "Hongbo Li and Weicun Zhang and Yingmin Jia and Junping Du",
booktitle = "Proceedings of the 2015 Chinese Intelligent Systems Conference",
address = "德国",
}