Modelado y Control de un Esquema Líder-Seguidor Basado en Distancia y Ángulo

Resumen: Este trabajo está enfocado en la obtención de un modelo matemático basado en distancia y ángulo para un sistema multi-agente, conformado por dos robots móviles del tipo diferencial, utilizando el esquema líder-seguidor. Dicho modelo matem'atico se obtiene a partir del modelo cinem'atico de los robots m'oviles. Posteriormente, se presenta una estrategia de control, bajo el enfoque de linealización por retroalimentación dinámica, la cual permite al agente seguidor mantener una distancia y un ángulo deseado con respecto al agente líder. Las simulaciones numéricas muestran el desempeño del controlador y son validadas experimentalmente.

¿Cómo citar?

.O. González-Medina, J. González-Sierra, A. Dzul, E.G. Hernández-Martínez & P. Paniagua-Contro. Modelado y Control de un Esquema Líder-Seguidor Basado en Distancia y Ángulo. Memorias del Congreso Nacional de Control Automático, pp. 382-387, 2018.

Palabras clave

Sistema multi-robot, Control de formación, Líder-seguidor, Robot diferencial

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