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 σσ-stability, λλ tuning, and Haalman’s tuning techniques. Finally, the theoretical results are confirmed by simulations.

authors

• González Galván Emilio Jorge
• Méndez Barrios Cesar Fernando Francisco

publication date

• 2021-01-01

published in

• Proceedings of the Latin American congress on automation and robotics  Proceedings

keywords

Digital Object Identifier (DOI)

• 10.1007/978-3-030-90033-5_9

PubMed ID

start page

• 71-79

end page

volume

• 347

issue