Unified control solution for mobile robot formations

Claudio D. Rosales; Francisco Rossomando; Lucio R. Salinas; Javier Gimenez; Ricardo Carelli

doi:10.1109/ICUAS51884.2021.9476675

Unified control solution for mobile robot formations

Claudio D. Rosales^*, Francisco Rossomando, Lucio R. Salinas, Javier Gimenez, Ricardo Carelli

^*Corresponding author for this work

Department of Engineering Mathematics

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

Abstract

This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.

Original language	English
Title of host publication	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1558-1564
Number of pages	7
ISBN (Electronic)	9781665415354
ISBN (Print)	9781665447041
DOIs	https://doi.org/10.1109/ICUAS51884.2021.9476675
Publication status	Published - 15 Jun 2021
Event	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 - Athens, Greece Duration: 15 Jun 2021 → 18 Jun 2021

Publication series

Name	Conference proceedings (International Conference on Unmanned Aircraft Systems (ICUAS)
Publisher	IEEE
ISSN (Print)	2373-6720
ISSN (Electronic)	2575-7296

Conference

Conference	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Country/Territory	Greece
City	Athens
Period	15/06/21 → 18/06/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

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10.1109/ICUAS51884.2021.9476675

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Rosales, C. D., Rossomando, F., Salinas, L. R., Gimenez, J., & Carelli, R. (2021). Unified control solution for mobile robot formations. In 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 (pp. 1558-1564). Article 9476675 (Conference proceedings (International Conference on Unmanned Aircraft Systems (ICUAS)). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICUAS51884.2021.9476675

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title = "Unified control solution for mobile robot formations",

abstract = "This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations. ",

author = "Rosales, {Claudio D.} and Francisco Rossomando and Salinas, {Lucio R.} and Javier Gimenez and Ricardo Carelli",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 ; Conference date: 15-06-2021 Through 18-06-2021",

year = "2021",

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doi = "10.1109/ICUAS51884.2021.9476675",

language = "English",

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series = "Conference proceedings (International Conference on Unmanned Aircraft Systems (ICUAS)",

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Rosales, CD, Rossomando, F, Salinas, LR, Gimenez, J & Carelli, R 2021, Unified control solution for mobile robot formations. in 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021., 9476675, Conference proceedings (International Conference on Unmanned Aircraft Systems (ICUAS), Institute of Electrical and Electronics Engineers (IEEE), pp. 1558-1564, 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, Athens, Greece, 15/06/21. https://doi.org/10.1109/ICUAS51884.2021.9476675

Unified control solution for mobile robot formations. / Rosales, Claudio D.; Rossomando, Francisco; Salinas, Lucio R. et al.
2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021. Institute of Electrical and Electronics Engineers (IEEE), 2021. p. 1558-1564 9476675 (Conference proceedings (International Conference on Unmanned Aircraft Systems (ICUAS)).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Unified control solution for mobile robot formations

AU - Rosales, Claudio D.

AU - Rossomando, Francisco

AU - Salinas, Lucio R.

AU - Gimenez, Javier

AU - Carelli, Ricardo

PY - 2021/6/15

Y1 - 2021/6/15

N2 - This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.

AB - This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.

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DO - 10.1109/ICUAS51884.2021.9476675

M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:85111466253

SN - 9781665447041

T3 - Conference proceedings (International Conference on Unmanned Aircraft Systems (ICUAS)

SP - 1558

EP - 1564

BT - 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

Y2 - 15 June 2021 through 18 June 2021

ER -

Rosales CD, Rossomando F, Salinas LR, Gimenez J, Carelli R. Unified control solution for mobile robot formations. In 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021. Institute of Electrical and Electronics Engineers (IEEE). 2021. p. 1558-1564. 9476675. (Conference proceedings (International Conference on Unmanned Aircraft Systems (ICUAS)). doi: 10.1109/ICUAS51884.2021.9476675

Unified control solution for mobile robot formations

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