| Author | Search for: Golkar, M.A.; Search for: Momeni, A.; Search for: Moezzi, K.; Search for: Aghdam, A.G.; Search for: Mantegh, I.1 |
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| Affiliation | - National Research Council of Canada. Aerospace
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| Format | Text, Article |
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| Conference | 2011 American Control Conference, ACC 2011, 29 June 2011 through 1 July 2011, San Francisco, CA |
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| Subject | Control laws; Controller designs; Convergence analysis; Convergence properties; Formation control; Leader-follower structures; Nonholonomic model; Relative distances; Relative velocity; Steady state; Steady state errors; Upper Bound; Velocity errors; Wheeled mobile robot; Error analysis; Linear matrix inequalities; Machine design; Measurement errors; Mobile robots; Controllers |
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| Abstract | This paper deals with the steady-state error analysis in the formation control of wheeled mobile robots with leader follower structure. A nonholonomic model is considered for each robot, and it is assumed that each follower is capable of measuring its relative distance and relative velocity with respect to the leader. However, these measurements are assumed to be subject to error. A control law is proposed, and its convergence properties are investigated. Using the linear matrix inequalities (LMI) approach, the upper bounds of the steady state position and velocity errors due to the measurement error are minimized. Simulations demonstrate the efficacy of the results. © 2011 AACC American Automatic Control Council. |
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| Publication date | 2011 |
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| In | |
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| Language | English |
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| Peer reviewed | Yes |
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| NPARC number | 21271249 |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | edf1cdfb-0e9a-4f4c-b465-c5406c4480f4 |
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| Record created | 2014-03-24 |
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| Record modified | 2020-04-21 |
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