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2017
Artículos de revista
Gutiérrez, H.; Morales-Diaz, America B.; Nijmeijer, H.
Synchronization Control for a Swarm of Unicycle Robots: Analysis of Different Controller Topologies Artículo de revista
En: Asian Journal of Control, vol. 19, no 5, pp. 1822-1833, 2017, ISSN: 1561-8625.
@article{Guti\'{e}rrez2017,
title = {Synchronization Control for a Swarm of Unicycle Robots: Analysis of Different Controller Topologies},
author = {Guti\'{e}rrez, H. and Morales-Diaz, America B. and Nijmeijer, H.},
editor = {Wiley-Blackwell},
url = {http://onlinelibrary.wiley.com/doi/10.1002/asjc.1497/full
},
doi = {http://dx.doi.org/10.1002/asjc.1497},
issn = {1561-8625},
year = {2017},
date = {2017-09-01},
journal = {Asian Journal of Control},
volume = {19},
number = {5},
pages = {1822-1833},
abstract = {This paper proposes a nonlinear synchronization controller for a swarm of unicycle robots performing a cooperative task, i.e., following a desired trajectory per robot while maintaining a prescribed formation. The effect of communication between robots is analyzed and several network topologies are investigated, e.g., all-to-all, ring type, undirected, among others. The stability analysis of the closed loop system is provided using the Lyapunov method. Experiments with four unicycle robots are presented to validate the control law and communication analysis. Accumulated errors over the experiment time are presented in order to determine which topology is most efficient.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper proposes a nonlinear synchronization controller for a swarm of unicycle robots performing a cooperative task, i.e., following a desired trajectory per robot while maintaining a prescribed formation. The effect of communication between robots is analyzed and several network topologies are investigated, e.g., all-to-all, ring type, undirected, among others. The stability analysis of the closed loop system is provided using the Lyapunov method. Experiments with four unicycle robots are presented to validate the control law and communication analysis. Accumulated errors over the experiment time are presented in order to determine which topology is most efficient.
