Leader/follower tracking control design for task-based missions

Elżbieta Jarzębowska

Abstract

The paper develops a control theoretic leader-to-follower framework for performing task-based missions. It enables tracking trajectories and other task-based motions. Its modular architecture enables switching between controllers for a leader and followers as well as changing followers based on a specified mission. The framework is based on the model reference tracking control strategy for programmed motion. Initially, the strategy is developed for a single mobile robot. Its modular structure enables its extension to collaborating robots.
Author Elżbieta Jarzębowska ITLMS
Elżbieta Jarzębowska,,
- The Institute of Aeronautics and Applied Mechanics
Journal seriesInternational Journal of Vehicle Autonomous Systems
Issue year2011
Vol9
No3
Pages203-218
DOIDOI:10.1504/IJVAS.2011.041385
URL http://dx.doi.org/10.1504/IJVAS.2011.041385
Languageen angielski
Score (nominal)0
Citation count*2 (2015-02-03)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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