This paper presents the control design for a multi-agent system (MAS) of land-based mobile robots on wheels formation, that also implements a PI control for the fastest with no-overshoot response at each agent’s velocity. Regarding the robot formation tracking control design, a mathematical model constructed from a geometric approach is applied. In addition, the formation’s asymptotic stability is guaranteed in the light of Lyapunov’s theory. When discussing the agents’ velocity control, the mentioned Proportional-Integral PI algorithm is designed by using different methodologies which include σ -stability, λ tuning, and Haalman’s tuning techniques. Finally, the theoretical results are confirmed by simulations.
|Title of host publication||Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021|
|Editors||Héctor A. Moreno, Isela G. Carrera, Ricardo A. Ramírez-Mendoza, José Baca, Ilka A. Banfield|
|Publisher||Springer Science and Business Media Deutschland GmbH|
|Number of pages||9|
|Publication status||Published - 2022|
|Event||3rd Latin American Congress on Automation and Robotics, LACAR 2021 - Virtual, Online|
Duration: 17 Nov 2021 → 19 Nov 2021
|Name||Lecture Notes in Networks and Systems|
|Conference||3rd Latin American Congress on Automation and Robotics, LACAR 2021|
|Period||17/11/21 → 19/11/21|
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ASJC Scopus subject areas
- Control and Systems Engineering
- Signal Processing
- Computer Networks and Communications