Electrical and Computer Engineering Commons^™

Formation Control Of Car-Like Mobile Robots, Shweta Annapurani Panimadai Ramaswamy

Masters Theses

"A traditional tracking and control design approach already available in literature is derived and discussed for a car-like mobile robot. It involves a decoupled design involving two separate algorithms, one for velocity control design and another for torque control design. Weak interactions among the algorithms and separate designs make the robot performance optimization and the formation stability difficult to achieve. So, a new tracking and control architecture wherein the conventional elements are replaced by a single component that performs all the functions and hence called the integrated tracking and control scheme is used"--Abstract, page iii.