Leader-follower approach using full-state linearization via dynamic feedback

Ghulam Mubashar Hassan, Khawaja M. Yahya, Ihsan-ul-Haq

Research output: Chapter in Book/Conference paperConference paper

18 Citations (Scopus)

Abstract

In this work, the leader-follower control problem is solved by using Full-state linearization via dynamic feedback. This approach has certain advantages over the well known input-output linearization such as no relative point selection, simple extension to n-robots formation and representation of all dynamics incase of Car-Like Robot model. Simulation results verify the validity and limitation of these controllers by Matlab. The new 3-D robot simulator Gazebo with robot server Player is also used to verify the results.

Original languageEnglish
Title of host publicationProceedings - 2nd International Conference on Emerging Techonologies 2006, ICET 2006
Pages297-305
Number of pages9
DOIs
Publication statusPublished - 1 Dec 2006
Externally publishedYes
Event2nd Annual International Conference on Emerging Techonologies 2006, ICET 2006 - Peshawar, Pakistan
Duration: 13 Nov 200614 Nov 2006

Conference

Conference2nd Annual International Conference on Emerging Techonologies 2006, ICET 2006
CountryPakistan
CityPeshawar
Period13/11/0614/11/06

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Hassan, G. M., Yahya, K. M., & Ihsan-ul-Haq (2006). Leader-follower approach using full-state linearization via dynamic feedback. In Proceedings - 2nd International Conference on Emerging Techonologies 2006, ICET 2006 (pp. 297-305). [4136907] https://doi.org/10.1109/ICET.2006.335939