Autor:

López-Estrada, Francisco-Ronay ; Darias, Helen ; Puig, Vicenç ; Valencia-Palomo, Guillermo ; Domínguez-Zenteno, Joaquin ; Guerrero-Sánchez, María-Eusebia

Współtwórca:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Tytuł:

Cooperative convex control of multiagent systems applied to differential drive robots

Tytuł publikacji grupowej:

AMCS, volume 34 (2024)

Temat i słowa kluczowe:

convex control ; multiagent systems ; differential robots ; tracking control

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.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Data wydania:

2024

Typ zasobu:

artykuł

DOI:

10.61822/amcs-2024-0014

Strony:

199-210

Źródło:

AMCS, volume 34, number 2 (2024) ; kliknij tutaj, żeby przejść

Jezyk:

eng

Licencja CC BY 4.0:

kliknij tutaj, żeby przejść

Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego