eprintid: 224
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/00/02/24
datestamp: 2023-11-09 15:15:51
lastmod: 2023-11-09 15:15:51
status_changed: 2023-11-09 15:13:35
type: conference_item
metadata_visibility: show
creators_name: Ahmed, S.
creators_name: Karsiti, M.N.
creators_name: Hassan, G.M.
title: Feedback linearized strategies for collaborative nonholonomic robots
ispublished: pub
keywords: Binary codes; Feedback linearization; Linear control systems; Linearization; Mobile robots; Robotics; Robots; State feedback, Collaborative robots; Communication capabilities; Continuous times; Control strategies; Development frameworks; Dynamic feedbacks; Innovative designs; Leader-follower formation; Linear controls; Nonholonomic; Nonholonomic robots; Output feedbacks; Simulation results; Simulink; Static feedbacks; Wheeled Mobile Robots, Feedback
note: cited By 5; Conference of International Conference on Control, Automation and Systems, ICCAS 2007 ; Conference Date: 17 October 2007 Through 20 October 2007; Conference Code:72829
abstract: Collaborative wheeled mobile robots are not stable around a point by continuous time-invariant feedback. Therefore, linear control is ineffective and innovative design techniques such as feedback linearization are required. This paper presents feedback linearized control strategies for collaborative nonholonomic robots using leader-follower formation. A framework for collaborative robots is developed based on their kinematics. The development framework relies on robots having communication capabilities instead of visual capabilities. The collaborative robot system is modeled using Simulink. From the simulation results, the full state linearized via dynamic feedback strategy for the leader robot globally stabilizes the system. Furthermore, the full state linearized via dynamic feedback strategy achieves postures stabilization for the leader-follower formation. For the follower robots, the input-output via static feedback linearized control strategies minimize the error between the desired and actual formation. Furthermore, the input-output linearized control strategies allow dynamical change of the formation at run-time. Thus, for a given feasible trajectory, the full state feedback linearized strategy for the leader robot and input-output feedback linearized strategies for the follower robots are found to be more efficient in stabilizing the system. © ICROS.
date: 2007
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-48349108636&doi=10.1109%2fICCAS.2007.4406586&partnerID=40&md5=f6b3e1a567cf5a7b55a133141826fdeb
id_number: 10.1109/ICCAS.2007.4406586
full_text_status: none
publication: ICCAS 2007 - International Conference on Control, Automation and Systems
place_of_pub: Seoul
pagerange: 1551-1556
refereed: TRUE
isbn: 8995003871; 9788995003879
citation:   Ahmed, S. and Karsiti, M.N. and Hassan, G.M.  (2007) Feedback linearized strategies for collaborative nonholonomic robots.  In: UNSPECIFIED.