@inproceedings{862f36315c26468782efe15dde7de273,
title = "Column formation control of multi-robot systems with input constraints",
abstract = "This paper is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple controller in terms of two feedback parameters. It is shown that using an elliptic approximation to input constraints, the two feedback parameters can be obtained directly with a geometric analysis method. Moreover, a sufficient condition is presented for the leader robot to guarantee that the desired column formation can be achieved, with which a particular controller is designed by selecting two appropriate functions for the feedback parameters. Simulation results are included to verify the effectiveness of the proposed theoretical results.",
keywords = "Column formation control, elliptic approximation, input constraints, leader-follower, multi-robot systems",
author = "Xiaohan Chen and Yingmin Jia and Junping Du and Fashan Yu",
year = "2011",
doi = "10.1109/CDC.2011.6161048",
language = "英语",
isbn = "9781612848006",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2732--2737",
booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",
address = "美国",
note = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 ; Conference date: 12-12-2011 Through 15-12-2011",
}