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Decentralized Control of Cooperative Mobile Robot Systems Using Passive Velocity Field Control Method  

서진호 (동아대학교 전기공학과)
이권순 (동아대학교 전기전자컴퓨터공학부)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.12, no.4, 2004 , pp. 129-138 More about this Journal
Abstract
In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.
Keywords
Decentralized control; Mobile robot; Nonholonomic constraint; Passive velocity field control; Passivity; Robustness;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 J. H. Suh, et. al., 'Decentralized Control of Cooperative 3-wheeled Mobile Robots using Passive Velocity Field Control,' Proc. of AROB, pp,433-436, Japan, 2004
2 J. H. Sub, K. S. Lee, 'Virtual Passivity-based Decentralized Control of Multiple 3-wheeled Mobile Robotic Systems via System Augmentation,' Int. J. of Automotive Technology, 2004
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