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.
|Title of host publication||Proceedings - 2nd International Conference on Emerging Techonologies 2006, ICET 2006|
|Number of pages||9|
|Publication status||Published - 1 Dec 2006|
|Event||2nd Annual International Conference on Emerging Techonologies 2006, ICET 2006 - Peshawar, Pakistan|
Duration: 13 Nov 2006 → 14 Nov 2006
|Conference||2nd Annual International Conference on Emerging Techonologies 2006, ICET 2006|
|Period||13/11/06 → 14/11/06|