Publication

Cooperative convex control of multiagent systems applied to differential drive robots

Journal Article (2024)

Journal

International Journal of Applied Mathematics and Computer Science

Pages

199-210

Volume

34

Number

2

Doc link

ttps://doi.org/10.61822/amcs-2024-0014

File

Download the digital copy of the doc pdf document

Authors

  • Lopez Estrada, Francisco Ronay

  • Darias, Helen

  • Puig Cayuela, Vicenç

  • Valencia Palomo, Guillermo

  • Domínguez Zenteno, Joaquín

  • Guerrero Sánchez, María Eusebia

Abstract

This work proposes a convex cooperative control scheme for a multiagent system of differential mobile robots in a leader–follower formation. First, the kinematic model of the differential robots is obtained in a linear parameter varying representation. Next, a reference model approach is considered to track the desired trajectory. The paper’s contribution is then to derive conditions to guarantee the convergence of the convex controller, which is achieved using a non-quadratic Lyapunov function. Subsequently, this control law is integrated into the agent that leads a distributed control protocol based on graph theory designed to reach the consensus of the followers. Simulations of five mobile robots are performed to illustrate the effectiveness of the proposed method.

Categories

control theory.

Author keywords

convex control, multiagent system, differential robots, tracking control

Scientific reference

F.R. Lopez, H. Darias, V. Puig, G. Valencia, J. Domínguez-Zenteno and M.E. Guerrero-Sánchez. Cooperative convex control of multiagent systems applied to differential drive robots. International Journal of Applied Mathematics and Computer Science, 34(2): 199-210, 2024.