Cluster space LPV control of robot formations

"Within the Cluster Space robot formation control scheme, a new approach is presented where a cascaded control scheme is proposed. On one hand, a simple secondary (inner) loop is used to control the formation’s velocity in Robot Space, while on the other hand a quasi-LPV (Linear Parameter Varyi...

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Detalles Bibliográficos
Autores principales: Ghersin, Alejandro S., Giribet, Juan I., Mas, Ignacio
Formato: Ponencias en Congresos acceptedVersion
Lenguaje:Inglés
Publicado: 2020
Materias:
MICRO VEHICULOS AEREOS
ROBOTICA
CONTROL AUTOMATICO
CONTROL DE VARIACION LINEAL DE PARAMETROS
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/2217
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-2217
record_format dspace
spelling I32-R138-123456789-22172022-12-07T14:14:00Z Cluster space LPV control of robot formations Ghersin, Alejandro S. Giribet, Juan I. Mas, Ignacio MICRO VEHICULOS AEREOS ROBOTICA CONTROL AUTOMATICO CONTROL DE VARIACION LINEAL DE PARAMETROS "Within the Cluster Space robot formation control scheme, a new approach is presented where a cascaded control scheme is proposed. On one hand, a simple secondary (inner) loop is used to control the formation’s velocity in Robot Space, while on the other hand a quasi-LPV (Linear Parameter Varying) approach is employed for the design of the main (outer) control loop where the geometry and kinematics of the problem are captured by the LPV formulation. Certain aspects of the design such as stability are tackled, and the use of parameter-dependent weighting functions is discussed through a design example tested in simulations in order to illustrate the use of the method." 2020-06-24T16:16:28Z 2020-06-24T16:16:28Z 2018-10 Ponencias en Congresos info:eu-repo/semantics/acceptedVersion 978-1538-65-586-3 http://ri.itba.edu.ar/handle/123456789/2217 en info:eu-repo/semantics/altIdentifier/doi/10.1109/ICA-ACCA.2018.8609800 info:eu-repo/grantAgreement/ANPCyT/PICT/2014-2055/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/ANPCyT/PICT/2015-3040/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Ciudad Autónoma de Buenos Aires application/pdf
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic MICRO VEHICULOS AEREOS
ROBOTICA
CONTROL AUTOMATICO
CONTROL DE VARIACION LINEAL DE PARAMETROS
spellingShingle MICRO VEHICULOS AEREOS
ROBOTICA
CONTROL AUTOMATICO
CONTROL DE VARIACION LINEAL DE PARAMETROS
Ghersin, Alejandro S.
Giribet, Juan I.
Mas, Ignacio
Cluster space LPV control of robot formations
topic_facet MICRO VEHICULOS AEREOS
ROBOTICA
CONTROL AUTOMATICO
CONTROL DE VARIACION LINEAL DE PARAMETROS
description "Within the Cluster Space robot formation control scheme, a new approach is presented where a cascaded control scheme is proposed. On one hand, a simple secondary (inner) loop is used to control the formation’s velocity in Robot Space, while on the other hand a quasi-LPV (Linear Parameter Varying) approach is employed for the design of the main (outer) control loop where the geometry and kinematics of the problem are captured by the LPV formulation. Certain aspects of the design such as stability are tackled, and the use of parameter-dependent weighting functions is discussed through a design example tested in simulations in order to illustrate the use of the method."
format Ponencias en Congresos
acceptedVersion
author Ghersin, Alejandro S.
Giribet, Juan I.
Mas, Ignacio
author_facet Ghersin, Alejandro S.
Giribet, Juan I.
Mas, Ignacio
author_sort Ghersin, Alejandro S.
title Cluster space LPV control of robot formations
title_short Cluster space LPV control of robot formations
title_full Cluster space LPV control of robot formations
title_fullStr Cluster space LPV control of robot formations
title_full_unstemmed Cluster space LPV control of robot formations
title_sort cluster space lpv control of robot formations
publishDate 2020
url http://ri.itba.edu.ar/handle/123456789/2217
work_keys_str_mv AT ghersinalejandros clusterspacelpvcontrolofrobotformations
AT giribetjuani clusterspacelpvcontrolofrobotformations
AT masignacio clusterspacelpvcontrolofrobotformations
_version_ 1765660718137344000

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