Cooperative convex control of multiagent systems applied to differential drive robots

• Autorzy: López-Estrada Francisco-Ronay , Darias Helen , Puig Vicenç , Valencia-Palomo Guillermo , Domínguez-Zenteno Joaquín , Guerrero-Sánchez María-Eusebia

Identyfikatory

DOI

10.61822/amcs-2024-0014

• Języki publikacji: EN

Abstrakty

EN

This work proposes a convex cooperative control scheme for a multiagent system of differential mobile robots in a leader-follower formation. First, the kinematic model of the differential robots is obtained in a linear parameter varying representation. Next, a reference model approach is considered to track the desired trajectory. The paper’s contribution is then to derive conditions to guarantee the convergence of the convex controller, which is achieved using a non-quadratic Lyapunov function. Subsequently, this control law is integrated into the agent that leads a distributed control protocol based on graph theory designed to reach the consensus of the followers. Simulations of five mobile robots are performed to illustrate the effectiveness of the proposed method.

Słowa kluczowe

EN

convex control; multiagent system; differential robot; tracking control

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2024
• Tom: Vol. 34, no. 2
• Strony: 199--210
• Opis fizyczny: Bibliogr. 35 poz., rys., wykr.

Twórcy

autor

López-Estrada Francisco-Ronay

• TURIX-Dynamics - Diagnosis and Control Group, National Technological Institute of Mexico, IT Tuxtla Gutiérrez, Carr. Panamericana Km. 1080, SN, 29050, Tuxtla Gtz, Mexico

autor

Darias Helen

• TURIX-Dynamics - Diagnosis and Control Group, National Technological Institute of Mexico, IT Tuxtla Gutiérrez, Carr. Panamericana Km. 1080, SN, 29050, Tuxtla Gtz, Mexico

autor

Puig Vicenç

• Institute of Robotics and Industrial Informatics, Polytechnic University of Catalonia, C/Llorens i Artigas 4-6, 08028, Barcelona, Spain

autor

Valencia-Palomo Guillermo

• IIxM CONAHCYT & TURIX-Dynamics - Diagnosis and Control Group, National Technological Institute of Mexico, IT Hermosillo, Av. Tecnológico 115, 83170, Hermosillo, Mexico

autor

Domínguez-Zenteno Joaquín

• TURIX-Dynamics - Diagnosis and Control Group, National Technological Institute of Mexico, IT Tuxtla Gutiérrez, Carr. Panamericana Km. 1080, SN, 29050, Tuxtla Gtz, Mexico

autor

Guerrero-Sánchez María-Eusebia

• IIxM CONAHCYT & TURIX-Dynamics - Diagnosis and Control Group, National Technological Institute of Mexico, IT Hermosillo, Av. Tecnológico 115, 83170, Hermosillo, Mexico

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).