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

doi:10.1007/978-3-030-90033-5_9

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 Centre for Fluid and Complex Systems

Universidad Autónoma de San Luis Potosí

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

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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 language	English
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	SpringerOpen
Pages	71-79
Number of pages	9
ISBN (Print)	9783030900328
DOIs	https://doi.org/10.1007/978-3-030-90033-5_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

Publication series

Name	Lecture Notes in Networks and Systems
Volume	347 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	3rd Latin American Congress on Automation and Robotics, LACAR 2021
City	Virtual, Online
Period	17/11/21 → 19/11/21

Bibliographical note

Copyright © and Moral Rights are retained by the author(s) and/ or other copyright owners. A copy can be downloaded for personal non-commercial research or study, without prior permission or charge. This item cannot be reproduced or quoted extensively from without first obtaining permission in writing from the copyright holder(s). The content must not be changed in any way or sold commercially in any format or medium without the formal permission of the copyright holders.

This document is the author’s post-print version, incorporating any revisions agreed during the peer-review process. Some differences between the published version and this version may remain and you are advised to consult the published version if you wish to cite from it.

ASJC Scopus subject areas

Control and Systems Engineering
Signal Processing
Computer Networks and Communications

Access to Document

10.1007/978-3-030-90033-5_9

Post-PrintAccepted author manuscript, 2.8 MBLicence: Unspecified

Cite this

Hernández-Gallardo, J. A., González-Galván, E. J., Méndez-Barrios, C. F., & Guel-Cortez, A. J. (2022). Fastest with No-Overshoot Velocity Control Design of a Two-Differential Robotic Formation. In H. A. Moreno, I. G. Carrera, R. A. Ramírez-Mendoza, J. Baca, & I. A. Banfield (Eds.), Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021 (pp. 71-79). (Lecture Notes in Networks and Systems; Vol. 347 LNNS). SpringerOpen. https://doi.org/10.1007/978-3-030-90033-5_9

Fastest with No-Overshoot Velocity Control Design of a Two-Differential Robotic Formation. / Hernández-Gallardo, Julián Alejandro; González-Galván, Emilio Jorge; Méndez-Barrios, César Fernando et al.
Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. ed. / Héctor A. Moreno; Isela G. Carrera; Ricardo A. Ramírez-Mendoza; José Baca; Ilka A. Banfield. SpringerOpen, 2022. p. 71-79 (Lecture Notes in Networks and Systems; Vol. 347 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Hernández-Gallardo, JA, González-Galván, EJ, Méndez-Barrios, CF & Guel-Cortez, AJ 2022, Fastest with No-Overshoot Velocity Control Design of a Two-Differential Robotic Formation. in HA Moreno, IG Carrera, RA Ramírez-Mendoza, J Baca & IA Banfield (eds), Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. Lecture Notes in Networks and Systems, vol. 347 LNNS, SpringerOpen, pp. 71-79, 3rd Latin American Congress on Automation and Robotics, LACAR 2021, Virtual, Online, 17/11/21. https://doi.org/10.1007/978-3-030-90033-5_9

Hernández-Gallardo JA, González-Galván EJ, Méndez-Barrios CF, Guel-Cortez AJ. Fastest with No-Overshoot Velocity Control Design of a Two-Differential Robotic Formation. In Moreno HA, Carrera IG, Ramírez-Mendoza RA, Baca J, Banfield IA, editors, Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. SpringerOpen. 2022. p. 71-79. (Lecture Notes in Networks and Systems). Epub 2021 Nov 21. doi: 10.1007/978-3-030-90033-5_9

Hernández-Gallardo, Julián Alejandro ; González-Galván, Emilio Jorge ; Méndez-Barrios, César Fernando et al. / Fastest with No-Overshoot Velocity Control Design of a Two-Differential Robotic Formation. Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. editor / Héctor A. Moreno ; Isela G. Carrera ; Ricardo A. Ramírez-Mendoza ; José Baca ; Ilka A. Banfield. SpringerOpen, 2022. pp. 71-79 (Lecture Notes in Networks and Systems).

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

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