Control of a heterogeneous aerial-terrestrial formation using null space approach

摘要

This paper proposes a multi-objective strategy, based on the null space control theory in order to guide formation composed by aerial and terrestrial robots. A mathematical representation for a triangular heterogeneous formation is presented considering the constraints imposed by the UGVs into the formation variables. The stability of the controller is analysed using Lyapunov theory and simulation results validate the proposal.