Formation Maneuvering of Mobile Inverted Pendulum Robots with Attitude Synchronization
U. T. Riyas, Jeevamma Jacob · 2020 Fourth International Conference on Inventive Systems and Control (ICISC) · 2020
In this paper, a formation maneuvering control is proposed for open loop unstable mobile inverted pendulum(MIP) robots to track a predefined trajectory while maintaining desired formation with synchronized attitudes. A connected undirected graph is used for inter-agent communication. A two loop control strategy is used to enhance the kinematic control to the actuator level. Simulation results are presented to showcase the performance of this approach.