Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation

"This work addresses the design and validation of a time-gap synchronized leader-follower formation scheme for wheeled mobile multi-robot systems. This scheme generates reference trajectories for each robot through the estimation via observer of the delayed behavior of its predecessor. A second...

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Autores principales: Baquero-Suárez, Mauro, Mas, Ignacio, Giribet, Juan I.
Formato: Ponencias en Congresos acceptedVersion
Lenguaje:Inglés
Publicado: 2021
Materias:
ROBOTICA
CONTROL ROBUSTO
DINAMICA DE CUERPOS RIGIDOS
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/3348
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-3348
record_format dspace
spelling I32-R138-123456789-33482022-12-07T14:13:54Z Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation Baquero-Suárez, Mauro Mas, Ignacio Giribet, Juan I. ROBOTICA CONTROL ROBUSTO DINAMICA DE CUERPOS RIGIDOS "This work addresses the design and validation of a time-gap synchronized leader-follower formation scheme for wheeled mobile multi-robot systems. This scheme generates reference trajectories for each robot through the estimation via observer of the delayed behavior of its predecessor. A second goal of this paper is the precise and efficient tracking of these references to achieve the desired movement of the chained formation. Therefore, a robust two-stage controller is proposed, where the angular velocity of lateral wheels is regulated in a first stage by a torque controller, with velocity references provided by a tracking controller that commands the robot’s pose in a second stage. The outlined theory is validated through successful results in simulations of multi-body dynamic models, integrating ADAMS and MATLAB." 2021-01-25T20:06:28Z 2021-01-25T20:06:28Z 2020-12 Ponencias en Congresos info:eu-repo/semantics/acceptedVersion http://ri.itba.edu.ar/handle/123456789/3348 en 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 ROBOTICA
CONTROL ROBUSTO
DINAMICA DE CUERPOS RIGIDOS
spellingShingle ROBOTICA
CONTROL ROBUSTO
DINAMICA DE CUERPOS RIGIDOS
Baquero-Suárez, Mauro
Mas, Ignacio
Giribet, Juan I.
Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation
topic_facet ROBOTICA
CONTROL ROBUSTO
DINAMICA DE CUERPOS RIGIDOS
description "This work addresses the design and validation of a time-gap synchronized leader-follower formation scheme for wheeled mobile multi-robot systems. This scheme generates reference trajectories for each robot through the estimation via observer of the delayed behavior of its predecessor. A second goal of this paper is the precise and efficient tracking of these references to achieve the desired movement of the chained formation. Therefore, a robust two-stage controller is proposed, where the angular velocity of lateral wheels is regulated in a first stage by a torque controller, with velocity references provided by a tracking controller that commands the robot’s pose in a second stage. The outlined theory is validated through successful results in simulations of multi-body dynamic models, integrating ADAMS and MATLAB."
format Ponencias en Congresos
acceptedVersion
author Baquero-Suárez, Mauro
Mas, Ignacio
Giribet, Juan I.
author_facet Baquero-Suárez, Mauro
Mas, Ignacio
Giribet, Juan I.
author_sort Baquero-Suárez, Mauro
title Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation
title_short Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation
title_full Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation
title_fullStr Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation
title_full_unstemmed Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation
title_sort robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation
publishDate 2021
url http://ri.itba.edu.ar/handle/123456789/3348
work_keys_str_mv AT baquerosuarezmauro robusttrackingcontrolfornonholonomicwheeledmobilerobotsinaleaderfollowerformationwithtimegapseparation
AT masignacio robusttrackingcontrolfornonholonomicwheeledmobilerobotsinaleaderfollowerformationwithtimegapseparation
AT giribetjuani robusttrackingcontrolfornonholonomicwheeledmobilerobotsinaleaderfollowerformationwithtimegapseparation
_version_ 1765661108502265856

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