TY - GEN
T1 - Adaptive Control for a Heterogeneous Formation of a Multi-robot System
AU - Mejia, Roberto
AU - Andaluz, Gabriela M.
AU - Camacho, Oscar
AU - Morales, Luis
AU - Gamboa, Silvana
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In the present work, the proposal of an adaptive control applied to a multi-robot system's heterogeneous formation is developed, composed of two land mobile robots and a quadcopter. The modeling of land mobile robots and quadcopter is obtained. Once the different models of each robotic scheme have been analyzed, the mathematical representation of the heterogeneous formation of the multi-robot systems is carried out. Through simulation, the system is presented, and the designed controller algorithms are applied. The implemented algorithm is based on the control of a cascade-type scheme: i) a leader-follower method is used as a strategy to achieve the desired formation structure, and ii) an adaptive control law is designed. Besides, simulation studies show the good behavior of the proposed control law. The adaptive controller proposal presented in this work significantly improved the behavior of the heterogeneous formation of the multi-robot system, reducing errors and making the system more robust. Finally, the Lyapunov theory is used to verify the stability of the proposed controllers.
AB - In the present work, the proposal of an adaptive control applied to a multi-robot system's heterogeneous formation is developed, composed of two land mobile robots and a quadcopter. The modeling of land mobile robots and quadcopter is obtained. Once the different models of each robotic scheme have been analyzed, the mathematical representation of the heterogeneous formation of the multi-robot systems is carried out. Through simulation, the system is presented, and the designed controller algorithms are applied. The implemented algorithm is based on the control of a cascade-type scheme: i) a leader-follower method is used as a strategy to achieve the desired formation structure, and ii) an adaptive control law is designed. Besides, simulation studies show the good behavior of the proposed control law. The adaptive controller proposal presented in this work significantly improved the behavior of the heterogeneous formation of the multi-robot system, reducing errors and making the system more robust. Finally, the Lyapunov theory is used to verify the stability of the proposed controllers.
KW - UAV
KW - adaptive control
KW - dynamic model
KW - heterogeneous formation
KW - mobile robot
KW - quadcopter
UR - https://www.scopus.com/pages/publications/85142429283
U2 - 10.1109/ETCM56276.2022.9935748
DO - 10.1109/ETCM56276.2022.9935748
M3 - Contribución a la conferencia
AN - SCOPUS:85142429283
T3 - 6th IEEE Ecuador Technical Chapters Meeting, ETCM 2022
BT - 6th IEEE Ecuador Technical Chapters Meeting, ETCM 2022
A2 - Lalaleo, David Rivas
A2 - Huerta, Monica Karel
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE Ecuador Technical Chapters Meeting, ETCM 2022
Y2 - 11 October 2022 through 14 October 2022
ER -