Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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LOS (Line of Sight) Algorithm and Unknown Input Observer Based Leader-Follower Formation Control

LOS 알고리듬과 미지 입력 관측기에 기초한 선도-추종 대형 제어

  • 윤석민 (한국해양연구원 해양시스템연구부) ;
  • 여태경 (한국해양연구원 해양시스템연구부) ;
  • 박성재 (한국해양연구원 해양시스템연구부) ;
  • 홍섭 (한국해양연구원 해양시스템연구부) ;
  • 김상봉 (부경대학교 기계자동차공학부)
  • Published : 2010.03.01
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Abstract

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

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References

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