Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots
This paper deals with the development of a decentralized event-based control strategy applied to the leader-following consensus problem of a group of two-wheeled self-balancing robots so called mobile inverted pendulum (MIP). The MIP’s nonlinear mathematical model which includes the dynamics of the...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | Spanish |
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Universitat Politècnica de València
2019-09-01
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| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/11113 |
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| author | O.D. Ramírez-Cárdenas J.F. Guerrero-Castellanos J. Linares-Flores S. Durand W.F. Guerrero-Sánchez |
| author_facet | O.D. Ramírez-Cárdenas J.F. Guerrero-Castellanos J. Linares-Flores S. Durand W.F. Guerrero-Sánchez |
| author_sort | O.D. Ramírez-Cárdenas |
| collection | DOAJ |
| description | This paper deals with the development of a decentralized event-based control strategy applied to the leader-following consensus problem of a group of two-wheeled self-balancing robots so called mobile inverted pendulum (MIP). The MIP’s nonlinear mathematical model which includes the dynamics of the actuators is presented. Then, the model around an operating point is considered which allows to exploit the differential flatness property of the system, permitting a complete parametrization in terms of the flat output. Assuming that the vehicle network exchange information through a directed and strongly connected graph, a decentralized control law is designed, and an event-based algorithm is developed. Then each MIP decides, based on the difference of its current state and its latest broadcast state, when it has to send a new value to its neighbors. The stability of the complete system is carried out in the Lyapunov sense together with the ISS (Input-to-State Stability) approach. Numerical results show the advantages \textit{wrt} information exchange between MIPs, as well as a good performance in the angular stabilization under two scenarios: regulation and tracking problem. |
| format | Article |
| id | doaj-art-1c394d40a4a04e9dbb71e186bdf5b491 |
| institution | Kabale University |
| issn | 1697-7912 1697-7920 |
| language | Spanish |
| publishDate | 2019-09-01 |
| publisher | Universitat Politècnica de València |
| record_format | Article |
| series | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| spelling | doaj-art-1c394d40a4a04e9dbb71e186bdf5b4912025-01-02T12:57:15ZspaUniversitat Politècnica de ValènciaRevista Iberoamericana de Automática e Informática Industrial RIAI1697-79121697-79202019-09-0116443544610.4995/riai.2019.111137364Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robotsO.D. Ramírez-Cárdenas0J.F. Guerrero-Castellanos1J. Linares-Flores2S. Durand3W.F. Guerrero-Sánchez4Universidad Tecnológica de la MixtecaBenemérita Universidad Autónoma de PueblaUniversidad Tecnológica de la MixtecaUniv. StrasburgBenemérita Universidad Autónoma de PueblaThis paper deals with the development of a decentralized event-based control strategy applied to the leader-following consensus problem of a group of two-wheeled self-balancing robots so called mobile inverted pendulum (MIP). The MIP’s nonlinear mathematical model which includes the dynamics of the actuators is presented. Then, the model around an operating point is considered which allows to exploit the differential flatness property of the system, permitting a complete parametrization in terms of the flat output. Assuming that the vehicle network exchange information through a directed and strongly connected graph, a decentralized control law is designed, and an event-based algorithm is developed. Then each MIP decides, based on the difference of its current state and its latest broadcast state, when it has to send a new value to its neighbors. The stability of the complete system is carried out in the Lyapunov sense together with the ISS (Input-to-State Stability) approach. Numerical results show the advantages \textit{wrt} information exchange between MIPs, as well as a good performance in the angular stabilization under two scenarios: regulation and tracking problem.https://polipapers.upv.es/index.php/RIAI/article/view/11113control basado en eventosagentescontrol de consensosistemas de transporte y vehículosrobots móviles y vehículos autónomos inteligentesteoría de control automático |
| spellingShingle | O.D. Ramírez-Cárdenas J.F. Guerrero-Castellanos J. Linares-Flores S. Durand W.F. Guerrero-Sánchez Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots Revista Iberoamericana de Automática e Informática Industrial RIAI control basado en eventos agentes control de consenso sistemas de transporte y vehículos robots móviles y vehículos autónomos inteligentes teoría de control automático |
| title | Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots |
| title_full | Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots |
| title_fullStr | Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots |
| title_full_unstemmed | Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots |
| title_short | Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots |
| title_sort | decentralized event based leader following consensus for a group of two wheeled self balancing robots |
| topic | control basado en eventos agentes control de consenso sistemas de transporte y vehículos robots móviles y vehículos autónomos inteligentes teoría de control automático |
| url | https://polipapers.upv.es/index.php/RIAI/article/view/11113 |
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