Control descentralizado basado en eventos para el consenso de múltiples robots tipo péndulo invertido en el esquema líder-seguidor Article Swipe
Oscar D. Ramírez-Cárdenas
,
J. Fermi Guerrero‐Castellanos
,
J. Linares‐Flores
,
Sylvain Durand
,
W. F. Guerrero-Sánchez
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.4995/riai.2019.11113
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.4995/riai.2019.11113
El trabajo presenta el diseno de una estrategia de control distribuido con comunicación activada por eventos, que resuelve el problema de consenso líder-seguidor, de un conjunto de robots móviles tipo péndulo invertido (RMPI). La linealización de las ecuaciones de movimiento de los RMPI, alrededor del punto de equilibrio, permiten explotar las propiedades de planitud diferencial, dando lugar a una reparametrizacion del sistema mediante la salida plana. Asumiendo que los vehículos se comunican mediante una red, cuya topología es representada por un grafo no dirigido y fuertemente conectado, se disena una ley de control distribuido y una funcion de evento que indica el instante en el que el i-ésimo vehículo debe transmitir informacion (su estado) a sus vecinos. El resultado es un intercambio asíncrono de informacion entre vehículos y donde el tiempo entre eventos no es equidistante. El analisis de estabilidad se lleva a cabo en el sentido de Lyapunov y en el sentido entrada-estado ISS (Input-to-State Stability). Los resultados en simulacion numérica muestran el buen desempeño del consenso de la red de vehículos en dos escenarios representativos: regulacion y seguimiento de trayectoria.
Related Topics
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Metadata
- Type
- article
- Language
- es
- Landing Page
- https://doi.org/10.4995/riai.2019.11113
- https://polipapers.upv.es/index.php/RIAI/article/download/11113/11179
- OA Status
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- Cited By
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- Related Works
- 10
- OpenAlex ID
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All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2945553347Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.4995/riai.2019.11113Digital Object Identifier
- Title
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Control descentralizado basado en eventos para el consenso de múltiples robots tipo péndulo invertido en el esquema líder-seguidorWork title
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articleOpenAlex work type
- Language
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esPrimary language
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2019Year of publication
- Publication date
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2019-09-20Full publication date if available
- Authors
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Oscar D. Ramírez-Cárdenas, J. Fermi Guerrero‐Castellanos, J. Linares‐Flores, Sylvain Durand, W. F. Guerrero-SánchezList of authors in order
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https://doi.org/10.4995/riai.2019.11113Publisher landing page
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https://polipapers.upv.es/index.php/RIAI/article/download/11113/11179Direct link to full text PDF
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YesWhether a free full text is available
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diamondOpen access status per OpenAlex
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https://polipapers.upv.es/index.php/RIAI/article/download/11113/11179Direct OA link when available
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Humanities, Physics, ArtTop concepts (fields/topics) attached by OpenAlex
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3Total citation count in OpenAlex
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2023: 1, 2021: 2Per-year citation counts (last 5 years)
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37Number of works referenced by this work
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10Other works algorithmically related by OpenAlex
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| publication_date | 2019-09-20 |
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