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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Formato: | Ponencias en Congresos acceptedVersion |
Lenguaje: | Inglés |
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2021
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Acceso en línea: | http://ri.itba.edu.ar/handle/123456789/3348 |
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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 |