Fastest with No-Overshoot Velocity Control Design of a Two-Differential Robotic Formation

Julián Alejandro Hernández-Gallardo, Emilio Jorge González-Galván, César Fernando Méndez-Barrios, Adrian Josue Guel-Cortez

Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationAdvances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021
EditorsHéctor A. Moreno, Isela G. Carrera, Ricardo A. Ramírez-Mendoza, José Baca, Ilka A. Banfield
PublisherSpringer Science and Business Media Deutschland GmbH
Pages71-79
Number of pages9
ISBN (Print)9783030900328
DOIs
Publication statusPublished - 2022
Event3rd Latin American Congress on Automation and Robotics, LACAR 2021 - Virtual, Online
Duration: 17 Nov 202119 Nov 2021

Publication series

NameLecture Notes in Networks and Systems
Volume347 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference3rd Latin American Congress on Automation and Robotics, LACAR 2021
CityVirtual, Online
Period17/11/2119/11/21

Bibliographical note

Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications

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