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

Ghulam Mubashar Hassan; Khawaja M. Yahya; null Ihsan-ul-Haq

doi:10.1109/ICET.2006.335939

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 paper › Conference paper › peer-review

20 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 language	English
Title of host publication	Proceedings - 2nd International Conference on Emerging Techonologies 2006, ICET 2006
Pages	297-305
Number of pages	9
DOIs	https://doi.org/10.1109/ICET.2006.335939
Publication status	Published - 1 Dec 2006
Externally published	Yes
Event	2nd Annual International Conference on Emerging Techonologies 2006, ICET 2006 - Peshawar, Pakistan Duration: 13 Nov 2006 → 14 Nov 2006

Conference

Conference	2nd Annual International Conference on Emerging Techonologies 2006, ICET 2006
Country/Territory	Pakistan
City	Peshawar
Period	13/11/06 → 14/11/06

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10.1109/ICET.2006.335939

Cite this

@inproceedings{3c369b5586fd4e9186169eb43b50f5f1,

title = "Leader-follower approach using full-state linearization via dynamic feedback",

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.",

keywords = "Car-like robot, Dynamic controller, Dynamic feedback controller, Full-state linearization via dynamic feedback",

author = "Hassan, {Ghulam Mubashar} and Yahya, {Khawaja M.} and Ihsan-ul-Haq",

year = "2006",

month = dec,

day = "1",

doi = "10.1109/ICET.2006.335939",

language = "English",

isbn = "1424405033",

pages = "297--305",

booktitle = "Proceedings - 2nd International Conference on Emerging Techonologies 2006, ICET 2006",

note = "2nd Annual International Conference on Emerging Techonologies 2006, ICET 2006 ; Conference date: 13-11-2006 Through 14-11-2006",

}

Hassan, GM, Yahya, KM & 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., 4136907, pp. 297-305, 2nd Annual International Conference on Emerging Techonologies 2006, ICET 2006, Peshawar, Pakistan, 13/11/06. https://doi.org/10.1109/ICET.2006.335939

TY - GEN

T1 - Leader-follower approach using full-state linearization via dynamic feedback

AU - Hassan, Ghulam Mubashar

AU - Yahya, Khawaja M.

AU - Ihsan-ul-Haq, null

PY - 2006/12/1

Y1 - 2006/12/1

N2 - 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.

AB - 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.

KW - Car-like robot

KW - Dynamic controller

KW - Dynamic feedback controller

KW - Full-state linearization via dynamic feedback

UR - http://www.scopus.com/inward/record.url?scp=46149090107&partnerID=8YFLogxK

U2 - 10.1109/ICET.2006.335939

DO - 10.1109/ICET.2006.335939

M3 - Conference paper

AN - SCOPUS:46149090107

SN - 1424405033

SN - 9781424405039

SP - 297

EP - 305

BT - Proceedings - 2nd International Conference on Emerging Techonologies 2006, ICET 2006

T2 - 2nd Annual International Conference on Emerging Techonologies 2006, ICET 2006

Y2 - 13 November 2006 through 14 November 2006

ER -

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

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