Controle de movimentos coordenados de robôs móveis quando os robôs assumem a liderança de maneira aleatória / Control of coordinated movements of mobile robots when the robots take the lead in a random
AUTOR(ES)
Tatiane Batista Rocha Francisco
DATA DE PUBLICAÇÃO
2009
RESUMO
This dissertation proposes a study on the automatic control of dynamic systems to the problem of coordination of mobile robots. The coordinated motions are performed with the robots following a leader, and any robot of the formation can assume the leadership randomly. The robots exchange informations according to a pre-specified communication directed graph (digraph). Stable motions are generated by a decentralized control law based on the robots coordinates. In addition, the nonlinear dynamic equations of the robots are described in state-space form where the parameters matrices depend on the angular velocities of the wheels. This representation, known as Quasi-Linear Parameter Varying (Quasi-LPV), is useful for control designs based on nonlinear H INFINITEapproaches. To ensure the stability formation when there is alternation of leader or one of the robots is removed, we made a robust control and fault tolerant control for a group of wheeled mobile robots (WMRs). The robust approach is based on state feedback nonlinear H INFINITEcontrol and output feedback nonlinear H INFINITEcontrol. The fault tolerant approach is based on output feedback H INFINITEcontrol of Markovian jump linear systems to ensure stability of the formation when one of the robots is lost during the coordinated motion. Results in simulation are presented for the controllers used.
ASSUNTO(S)
mobile robots controle h infinito não linear formation control controle markoviano robotic robótica markovian control robôs móveis nonlinear h infinite control controle de formação
