Characterization Of Cooperative Control For Multiple Non-Holonomic Wheeled Mobile Robots To Achieve Formation Tracking

Distributed control for cooperative system is an emerging research �eld in control system. This research focuses on characterization of the distributed control algorithm in solving formation tracking for multiple non-holonomic wheeled mobile robots. The existing research work mostly used mathematic...

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Main Author:	Lee, Zhi Xian
Format:	Thesis
Language:	English
Published:	2017
Subjects:	TK1-9971 Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.usm.my/39414/1/LEE_ZHI_XIAN_24_Pages.pdf
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id	my-usm-ep.39414
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spelling	my-usm-ep.394142019-04-12T05:25:07Z Characterization Of Cooperative Control For Multiple Non-Holonomic Wheeled Mobile Robots To Achieve Formation Tracking 2017 Lee, Zhi Xian TK1-9971 Electrical engineering. Electronics. Nuclear engineering Distributed control for cooperative system is an emerging research �eld in control system. This research focuses on characterization of the distributed control algorithm in solving formation tracking for multiple non-holonomic wheeled mobile robots. The existing research work mostly used mathematical approach to proof the convergence of controller but does not investigate how the parameters would a�ect the controller. Besides, usually only one communication topology is presented in solving formation tracking. Therefore, this research aims to �ll in the gap on current research by performing characterization of gain parameters in the distributed controller studied. Besides, several communication topologies are evaluated to understand how the neighbouring agents connected will impact the performance. A multi-agent system that consists of four wheeled mobile robots are investigated in this research using simulation approach. LabVIEWTM is used to simulate the multi- agent formation control. This research managed to perform the characterization of gain parameters and evaluate di�erent communication topologies. The characterization would complement the existing Lyapunov analysis thereby improving the research in cooperative formation control of wheeled mobile robot. This has helped to understand the how the distributed controller studied and used to tune the con- troller to solve the formation tracking. The formation tracking control is partially achieved and can be further improved by making the parameters adaptive to achieve state consensus. 2017 Thesis http://eprints.usm.my/39414/ http://eprints.usm.my/39414/1/LEE_ZHI_XIAN_24_Pages.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Elektrik dan Elektronik
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	TK1-9971 Electrical engineering Electronics Nuclear engineering
spellingShingle	TK1-9971 Electrical engineering Electronics Nuclear engineering Lee, Zhi Xian Characterization Of Cooperative Control For Multiple Non-Holonomic Wheeled Mobile Robots To Achieve Formation Tracking
description	Distributed control for cooperative system is an emerging research �eld in control system. This research focuses on characterization of the distributed control algorithm in solving formation tracking for multiple non-holonomic wheeled mobile robots. The existing research work mostly used mathematical approach to proof the convergence of controller but does not investigate how the parameters would a�ect the controller. Besides, usually only one communication topology is presented in solving formation tracking. Therefore, this research aims to �ll in the gap on current research by performing characterization of gain parameters in the distributed controller studied. Besides, several communication topologies are evaluated to understand how the neighbouring agents connected will impact the performance. A multi-agent system that consists of four wheeled mobile robots are investigated in this research using simulation approach. LabVIEWTM is used to simulate the multi- agent formation control. This research managed to perform the characterization of gain parameters and evaluate di�erent communication topologies. The characterization would complement the existing Lyapunov analysis thereby improving the research in cooperative formation control of wheeled mobile robot. This has helped to understand the how the distributed controller studied and used to tune the con- troller to solve the formation tracking. The formation tracking control is partially achieved and can be further improved by making the parameters adaptive to achieve state consensus.
format	Thesis
qualification_level	Master's degree
author	Lee, Zhi Xian
author_facet	Lee, Zhi Xian
author_sort	Lee, Zhi Xian
title	Characterization Of Cooperative Control For Multiple Non-Holonomic Wheeled Mobile Robots To Achieve Formation Tracking
title_short	Characterization Of Cooperative Control For Multiple Non-Holonomic Wheeled Mobile Robots To Achieve Formation Tracking
title_full	Characterization Of Cooperative Control For Multiple Non-Holonomic Wheeled Mobile Robots To Achieve Formation Tracking
title_fullStr	Characterization Of Cooperative Control For Multiple Non-Holonomic Wheeled Mobile Robots To Achieve Formation Tracking
title_full_unstemmed	Characterization Of Cooperative Control For Multiple Non-Holonomic Wheeled Mobile Robots To Achieve Formation Tracking
title_sort	characterization of cooperative control for multiple non-holonomic wheeled mobile robots to achieve formation tracking
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Elektrik dan Elektronik
publishDate	2017
url	http://eprints.usm.my/39414/1/LEE_ZHI_XIAN_24_Pages.pdf
_version_	1747820750574714880

Characterization Of Cooperative Control For Multiple Non-Holonomic Wheeled Mobile Robots To Achieve Formation Tracking

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