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|Title: ||Formation control of multiple robot systems with motion synchronization concept|
|Other Titles: ||Duo ji qi ren xi tong de zu dui tong bu kong zhi yan jiu|
|Authors: ||Wang, Can (王燦)|
|Department: ||Department of Manufacturing Engineering and Engineering Management|
|Degree: ||Doctor of Philosophy|
|Issue Date: ||2009|
|Publisher: ||City University of Hong Kong|
|Subjects: ||Robots -- Control systems.|
|Notes: ||CityU Call Number: TJ211.35 .W35 2009|
x, 91,  leaves : ill. 30 cm.
Thesis (Ph.D.)--City University of Hong Kong, 2009.
Includes bibliographical references.
|Abstract: ||Study on coordination of multiple mobile robots has received increasing attention in
recent years. One of the most challenging goals in robotics is the development of
intelligent robots that behave as a team and perform tasks cooperatively with human-level
performance, without requiring accurate knowledge of the kinematics and dynamics of
team members, or an accurate model of the robot environment. It is a requirement that
such a team of robots can maintain a certain formation during the course or change
formation when needed. In this study, a synchronous coordination control approach is
developed using cross-coupling control concept. This approach can be applied to swarms
of mobile robots in switching between formations.
The synchronization approach is extended to formation control applications, and the
formation control problem will be posed as a motion synchronization problem. According
to the desired formation, a synchronization control goal is derived, based on which the
position synchronization error is defined as differential position errors between every pair
of two neighboring robots. A mathematical model of generalized superellipse with varied
parameters to present various types of formations is studied. Such shape regulation
technology concerning switching between formations is developed to help apply the
proposed control concept. Combined with this model, the proposed synchronization
control strategy will be better supported and more effective.
A decentralized cross-coupling controller for each robot is developed to stabilize its
position tracking while synchronizing its motion with others for the desired formation.
The control algorithm utilizes feedback of both position and synchronization errors,
requires the information of the two neighboring robots only, and responds to all linked
robots in the group. It is proven that the proposed controller can guarantee asymptotic
convergence to zero of both position and synchronization errors. This controller does not require exact knowledge of the robot dynamic models and its environment and only
requires motion information of its nearest neighboring robots for each robot control.
To improve system robustness against uncertainty in controller design, an adaptive
control approach is incorporated into the proposed synchronization control frame. The
designed controller is verified to be robust to the robot model uncertainty and some
There is always a chance that one or more robots will get stuck or damaged during
tasks. A neural network approach is proposed to monitor formation controls of multirobot
systems. A single neural network detector is developed to detect robot malfunction with
data from robots’ odometers.
Simulations and experiments have been conducted to demonstrate the effectiveness of
the proposed approach. Both simulations and experiments are performed on switching
tasks amongst different formations. The research outputs will benefit the widely used
applications of multirobot systems in modern lives, such as search and rescue,
surveillance, transportation, etc.|
|Online Catalog Link: ||http://lib.cityu.edu.hk/record=b2375051|
|Appears in Collections:||MEEM - Doctor of Philosophy |
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