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

47 Downloads (Pure)

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
PublisherSpringerOpen
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

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

Fingerprint

Dive into the research topics of 'Fastest with No-Overshoot Velocity Control Design of a Two-Differential Robotic Formation'. Together they form a unique fingerprint.

Cite this