<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</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.

Cooperative Convex Control of Multiagent Systems Applied to Differential Drive Robots

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

This work proposes a convex cooperative control scheme for a multiagent system of differential mobile robots in a leader–follower formation. First, the...

Cooperative Convex Control of Multiagent Systems Applied to Differential Drive Robots

Publicado en línea: 25 jun 2024

Páginas: 199 - 210

Recibido: 28 jun 2023

Aceptado: 08 feb 2024

DOI: https://doi.org/10.61822/amcs-2024-0014

Palabras clave
convex control, multiagent system, differential robots, tracking control

© 2024 Francisco-Ronay López-Estrada et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Cooperative Convex Control of Multiagent Systems Applied to Differential Drive Robots

Publicado en línea: 25 jun 2024

Páginas: 199 - 210

Recibido: 28 jun 2023

Aceptado: 08 feb 2024

DOI: https://doi.org/10.61822/amcs-2024-0014

Palabras claveconvex control, multiagent system, differential robots, tracking control

© 2024 Francisco-Ronay López-Estrada et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Palabras clave
convex control, multiagent system, differential robots, tracking control