Formation Control with Synchronization of Mobile Robots Based on Discrete Time Models and Predictive Control

Resumen: In this paper, a control scheme is presented to solve the problem of regulation and formation with synchronization of a differential drive wheeled mobile robot, using the standard kinematic model in continuous time, which is exactly discretized. The design of the scheme is based on static state feedback technique and model predictive control (MPC) as control algorithm. The performance of the control scheme is verified by means of numerical simulations.

¿Cómo citar?

Olaf Vazquez-Cruz, Rafael Castro-Linares & Jaime Alvarez-Gallegos. Formation Control with Synchronization of Mobile Robots Based on Discrete Time Models and Predictive Control. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

Exact discretization, Regulation, Model Predictive Control, Synchronization

• Arteaga-Escamilla M., Castro-Linares R., y Alvarez- Gallegos J. (2015). Teleoperación de un robot móvil con evasión de obstáculos. Congreso Nacional de Control Automático, AMCA 2015., pp. 588-593.
• Balch, T. and Arkin, R. C. (1998). Behavior-based formation control for multirobot teams. IEEE Transactions on Robotics and Automation, 14(6): 926–939.
• Camacho, E. F., & Alba, C. B. (2013). Model predictive control. Springer Science & Business Media.
• De Wit, C. C., Siciliano, B., & Bastin, G. (Eds.). (2012). Theory of robot control. Springer Science & Business Media.
• Desai, J. P., Ostrowski, J. P. and Kumar, V. (2001). Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 17(6): 905–908.
• Maciejowski, J. M. (2002). Predictive control: with constraints. Pearson education, pp. 36–97.
• Martínez-Zúñiga, O., Velasco-Villa, M., & Castro Linares, R. (2013). Control de Seguimiento Práctico de un Robot Móvil Tipo (2, 0) en Tiempo Discreto. Congreso Nacional de Control Automático 2013, pp. 610-615.
• Niño-Suárez, P., Villa, M. V., & Bricaire, E. A. (2006). Discretización exacta de un robot móvil con retardo de transporte. Ciencia e Ingeniería Neogranadina, 16(1), 43-53.
• Prett, D. M., & Garc´ıa, C. E. (2013). Fundamental process control: Butterworths series in chemical engineering. Butterworth-Heinemann, pp. 30–40.
• Rosales-Hernández, F., Velasco-Villa, M., Castro Linares, R., Del Muro-Cuellar, B., & Hernández-Pérez, M. A. (2013). Discrete-time synchronization strategy for input time-delay mobile robots. Journal of the Franklin Institute, 350(10), 2911-2935.
• Sira-Ramírez, H., & Castro-Linares, R. (2010). Trajectory tracking for non-holonomic cars: A linear approach to controlled leader-follower formation. 49th IEEE Conference on Decision and Control (CDC), 350(10), (pp. 546-551).
• Sun, D., Wang, C., Shang, W., & Feng, G. (2009). A synchronization approach to trajectory tracking of multiple mobile robots while maintaining time-varying formations. IEEE Transactions on Robotics, 25(5), 1074-1086.
• Tan, K. H. and Lewis, M. A. (1996). Virtual structures for high-precision cooperative mobile robotic control. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, pp. 132–139.
• Velasco-Villa, M., Aranda-Bricaire, E. and OroscoGuerrero, R. (2009). Discrete-time modeling and path tracking for a wheelled mobile robot. Computación y Sistemas, 13(2): 142–160.