Cluster space LPV control of robot formations

Ghersin, Alejandro S.; Giribet, Juan I.; Mas, Ignacio

Ponencia en Congreso:
Cluster space LPV control of robot formations

dc.contributor.author	Ghersin, Alejandro S.
dc.contributor.author	Giribet, Juan I.
dc.contributor.author	Mas, Ignacio
dc.date.accessioned	2020-06-24T16:16:28Z
dc.date.available	2020-06-24T16:16:28Z
dc.date.issued	2018-10
dc.description.abstract	"Within the Cluster Space robot formation control scheme, a new approach is presented where a cascaded control scheme is proposed. On one hand, a simple secondary (inner) loop is used to control the formation’s velocity in Robot Space, while on the other hand a quasi-LPV (Linear Parameter Varying) approach is employed for the design of the main (outer) control loop where the geometry and kinematics of the problem are captured by the LPV formulation. Certain aspects of the design such as stability are tackled, and the use of parameter-dependent weighting functions is discussed through a design example tested in simulations in order to illustrate the use of the method."	en
dc.identifier.isbn	978-1538-65-586-3
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/2217
dc.language.iso	en	en
dc.relation	info:eu-repo/semantics/altIdentifier/doi/10.1109/ICA-ACCA.2018.8609800
dc.relation	info:eu-repo/grantAgreement/ANPCyT/PICT/2014-2055/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/ANPCyT/PICT/2015-3040/AR. Ciudad Autónoma de Buenos Aires
dc.relation	info:eu-repo/grantAgreement/ANPCyT/PICT/2016-2016/AR. Ciudad Autónoma de Buenos Aires
dc.subject	MICRO VEHICULOS AEREOS	es
dc.subject	ROBOTICA	es
dc.subject	CONTROL AUTOMATICO	es
dc.subject	CONTROL DE VARIACION LINEAL DE PARAMETROS	es
dc.title	Cluster space LPV control of robot formations	en
dc.type	Ponencias en Congresos	es
dc.type	info:eu-repo/semantics/acceptedVersion
dspace.entity.type	Ponencia en Congreso
itba.description.filiation	Fil: Ghersin, Alejandro S. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiation	Fil: Ghersin, Alejandro S. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiation	Fil: Giribet, Juan I. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina.
itba.description.filiation	Fil: Giribet, Juan I. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Instituto Tecnológico de Buenos Aires; Argentina.
itba.description.filiation	Fil: Mas, Ignacio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina.