Cooperative Control of Integrator Negative Imaginary Systems with Application to Rendezvous Multiple Mobile Robots

• Published in: International Workshop on Robot Motion and Control (Online) pp. 15 - 20
• Main Authors: Skeik, Ola, Hu, Junyan, Arvin, Farshad, Lanzon, Alexander
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.07.2019
• Subjects: Eigenvalues and eigenfunctions; Laplace equations; MIMO communication; Mobile robots; Stability analysis; Transfer functions
• ISSN: 2575-5579
• DOI: 10.1109/RoMoCo.2019.8787358

This paper contributes to the solution of mobile robots rendezvous problem via the negative imaginary (NI) systems theory. Cooperative control strategies are proposed for integrator NI systems. These control strategies are beneficial because they can be directly applied to wheeled mobile robots. Fir...