제어로봇시스템학회:학술대회논문집
- 2004.08a
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- Pages.1909-1914
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- 2004
Stability Analysis of Decentralized PVFC Algorithm for Cooperative Mobile Robotic Systems
- Suh, Jin-Ho (Department of Electrical Engineering, Dong-A University) ;
- Lee, Kwon-Soon (Division of Electrical, Electronics, and Computer Engineering, Dong-A University)
- Published : 2004.08.25
Abstract
Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified behaviorally in terms of a velocity field, and the closed-loop was passive with respect to a supply rate given by the environment input. However the PVFC was only applied to a single manipulator, the proposed control law was derived geometrically, and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a method to apply a decentralized control algorithm to cooperative 3-wheeled mobile robots whose subsystem is under nonholonomic constraints and which convey a common rigid object in a horizontal plain. Moreover it is shown that multiple robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative mobile robot systems.
Keywords
- Decentralized control;
- Passive velocity field control(PVFC);
- Passivity;
- Mobile robot;
- Virtual flywheel system