Self-Triggered Formation Control of Nonholonomic Robots
In this paper, we report the design of an aperiodic remote formation controller applied to nonholonomic robots tracking nonlinear, trajectories using an external positioning sensor network. Our main objective is to reduce wireless communication with external sensors and robots while guaranteeing for...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/12/2689 |
| _version_ | 1811304557168295936 |
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| author | Carlos Santos Felipe Espinosa Miguel Martinez-Rey David Gualda Cristina Losada |
| author_facet | Carlos Santos Felipe Espinosa Miguel Martinez-Rey David Gualda Cristina Losada |
| author_sort | Carlos Santos |
| collection | DOAJ |
| description | In this paper, we report the design of an aperiodic remote formation controller applied to nonholonomic robots tracking nonlinear, trajectories using an external positioning sensor network. Our main objective is to reduce wireless communication with external sensors and robots while guaranteeing formation stability. Unlike most previous work in the field of aperiodic control, we design a self-triggered controller that only updates the control signal according to the variation of a Lyapunov function, without taking the measurement error into account. The controller is responsible for scheduling measurement requests to the sensor network and for computing and sending control signals to the robots. We design two triggering mechanisms: centralized, taking into account the formation state and decentralized, considering the individual state of each unit. We present a statistical analysis of simulation results, showing that our control solution significantly reduces the need for communication in comparison with periodic implementations, while preserving the desired tracking performance. To validate the proposal, we also perform experimental tests with robots remotely controlled by a mini PC through an IEEE 802.11g wireless network, in which robots pose is detected by a set of camera sensors connected to the same wireless network. |
| first_indexed | 2024-04-13T08:09:13Z |
| format | Article |
| id | doaj.art-a0ca05cfee84456d84e326c35e77e5c4 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T08:09:13Z |
| publishDate | 2019-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-a0ca05cfee84456d84e326c35e77e5c42022-12-22T02:55:04ZengMDPI AGSensors1424-82202019-06-011912268910.3390/s19122689s19122689Self-Triggered Formation Control of Nonholonomic RobotsCarlos Santos0Felipe Espinosa1Miguel Martinez-Rey2David Gualda3Cristina Losada4Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, SpainElectronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, SpainElectronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, SpainElectronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, SpainElectronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, SpainIn this paper, we report the design of an aperiodic remote formation controller applied to nonholonomic robots tracking nonlinear, trajectories using an external positioning sensor network. Our main objective is to reduce wireless communication with external sensors and robots while guaranteeing formation stability. Unlike most previous work in the field of aperiodic control, we design a self-triggered controller that only updates the control signal according to the variation of a Lyapunov function, without taking the measurement error into account. The controller is responsible for scheduling measurement requests to the sensor network and for computing and sending control signals to the robots. We design two triggering mechanisms: centralized, taking into account the formation state and decentralized, considering the individual state of each unit. We present a statistical analysis of simulation results, showing that our control solution significantly reduces the need for communication in comparison with periodic implementations, while preserving the desired tracking performance. To validate the proposal, we also perform experimental tests with robots remotely controlled by a mini PC through an IEEE 802.11g wireless network, in which robots pose is detected by a set of camera sensors connected to the same wireless network.https://www.mdpi.com/1424-8220/19/12/2689self-triggered Lyapunov controlreal-time schedulingpractical stabilityremote guidanceformation controlnonlinear trajectory tracking |
| spellingShingle | Carlos Santos Felipe Espinosa Miguel Martinez-Rey David Gualda Cristina Losada Self-Triggered Formation Control of Nonholonomic Robots Sensors self-triggered Lyapunov control real-time scheduling practical stability remote guidance formation control nonlinear trajectory tracking |
| title | Self-Triggered Formation Control of Nonholonomic Robots |
| title_full | Self-Triggered Formation Control of Nonholonomic Robots |
| title_fullStr | Self-Triggered Formation Control of Nonholonomic Robots |
| title_full_unstemmed | Self-Triggered Formation Control of Nonholonomic Robots |
| title_short | Self-Triggered Formation Control of Nonholonomic Robots |
| title_sort | self triggered formation control of nonholonomic robots |
| topic | self-triggered Lyapunov control real-time scheduling practical stability remote guidance formation control nonlinear trajectory tracking |
| url | https://www.mdpi.com/1424-8220/19/12/2689 |
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