@misc{López-Estrada_Francisco-Ronay_Cooperative,
 author={López-Estrada, Francisco-Ronay and Darias, Helen and Puig, Vicenç and Valencia-Palomo, Guillermo and Domínguez-Zenteno, Joaquin and Guerrero-Sánchez, María-Eusebia},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={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.},
 type={artykuł},
 title={Cooperative convex control of multiagent systems applied to differential drive robots},
 keywords={convex control, multiagent systems, differential robots, tracking control},
}