Non-linear control for a group of omni wheel robots

Abstract

The paper presents a solution of the problem of non-linear control law design for a group of mobile robots. The solution consists of the new approach to control of a group of mobile robot based on principals and methods of synergetic control theory. The design of robots control is considered with the analysis of mathematic model and with specified aim. In the synergetic control theory the set of criteria for the control system is usually expressed in the form of an appropriate system of invariants. Invariants play the role of control objectives, which are enforced a given technological aims. The synergetic synthesis procedure reduces to process of finding the non-linear control law on which these given invariants are satisfied. The synthesized control law provides an asymptotically stable movement of a group of omni-wheel robots with specified type of formation. Keywords— group control; omni-wheel robot; non-linear mathematical model; synergetic control theory