NDLI: Control descentralizado basado en eventos para el consenso de múltiples robots tipo péndulo invertido en el esquema líder-seguidor

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Control descentralizado basado en eventos para el consenso de múltiples robots tipo péndulo invertido en el esquema líder-seguidor

Content Provider	Semantic Scholar
Author	Ramirez-Cardenas, Oscar David Guerrero-Castellanos, J. F. Linares-Flores, Jesús Durand, Sylvain Guerrero-Sánchez, W. Fermín
Copyright Year	2019
Abstract	This paper deals with the development of a decentralized event-based control strategy applied to the leader-following consensus problem of a group of two-wheeled self-balancing robots so called mobile inverted pendulum (MIP). The MIP’s nonlinear mathematical model which includes the dynamics of the actuators is presented. Then, the model around an operating point is considered which allows to exploit the differential flatness property of the system, permitting a complete parametrization in terms of the flat output. Assuming that the vehicle network exchange information through a directed and strongly connected graph, a decentralized control law is designed, and an event-based algorithm is developed. Then each MIP decides, based on the difference of its current state and its latest broadcast state, when it has to send a new value to its neighbors. The stability of the complete system is carried out in the Lyapunov sense together with the ISS (Input-to-State Stability) approach. Numerical results show the advantages \textit{wrt} information exchange between MIPs, as well as a good performance in the angular stabilization under two scenarios: regulation and tracking problem.
Starting Page	435
Ending Page	446
Page Count	12
File Format	PDF HTM / HTML
DOI	10.4995/riai.2019.11113
Volume Number	16
Alternate Webpage(s)	https://riunet.upv.es/bitstream/handle/10251/126287/11113-45124-2-PB.pdf?isAllowed=y&sequence=4
Alternate Webpage(s)	https://doi.org/10.4995/riai.2019.11113
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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