SDRE based Leader-Follower Formation Control of Multiple Mobile Robots

Authors

  • Caio Igor Gonçalves Chinelato
  • L.S. Martins-Filho

DOI:

https://doi.org/10.5540/tema.2014.015.02.0195

Abstract

Formation control of multiple mobile robots is relatively a new area of robotics and increase the control performance and advantages of multiple mobile robots systems. In this work we present a study concerning the modeling and formation control of a robotic system composed by two mobile robots, where one robot is the leader and the other is follower. The system is a nonlinear dynamical system and cannot be controlled by traditional linear control techniques. The control strategy proposed is the SDRE (State-Dependent Riccati Equation) method. Simulations results with the software Matlab show the efficiency of the control method.

Author Biography

Caio Igor Gonçalves Chinelato

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Published

2014-09-06

How to Cite

Gonçalves Chinelato, C. I., & Martins-Filho, L. (2014). SDRE based Leader-Follower Formation Control of Multiple Mobile Robots. Trends in Computational and Applied Mathematics, 15(2). https://doi.org/10.5540/tema.2014.015.02.0195

Issue

Vol. 15 No. 2 (2014)

Section

Original Article

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