Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation

Baquero-Suárez, Mauro; Mas, Ignacio; Giribet, Juan I.

Ponencia en Congreso:
Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation

dc.contributor.author	Baquero-Suárez, Mauro
dc.contributor.author	Mas, Ignacio
dc.contributor.author	Giribet, Juan I.
dc.date.accessioned	2021-01-25T20:06:28Z
dc.date.available	2021-01-25T20:06:28Z
dc.date.issued	2020-12
dc.description.abstract	"This work addresses the design and validation of a time-gap synchronized leader-follower formation scheme for wheeled mobile multi-robot systems. This scheme generates reference trajectories for each robot through the estimation via observer of the delayed behavior of its predecessor. A second goal of this paper is the precise and efficient tracking of these references to achieve the desired movement of the chained formation. Therefore, a robust two-stage controller is proposed, where the angular velocity of lateral wheels is regulated in a first stage by a torque controller, with velocity references provided by a tracking controller that commands the robot’s pose in a second stage. The outlined theory is validated through successful results in simulations of multi-body dynamic models, integrating ADAMS and MATLAB."	en
dc.identifier.uri	http://ri.itba.edu.ar/handle/123456789/3348
dc.language.iso	en	en
dc.subject	ROBOTICA	es
dc.subject	CONTROL ROBUSTO	es
dc.subject	DINAMICA DE CUERPOS RIGIDOS	es
dc.title	Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation	en
dc.type	Ponencias en Congresos	es
dc.type	info:eu-repo/semantics/acceptedVersion
dspace.entity.type	Ponencia en Congreso
itba.description.filiation	Fil: Baquero-Suárez, Mauro. Instituto Tecnológico de Buenos Aires; 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.
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