2026-04-13T04:58:55Zhttps://recercat.cat/oai/requestoai:recercat.cat:2117/4175152026-01-15T05:10:28Zcom_2072_1033col_2072_452950
RECERCAT
author
López Estrada, Francisco Ronay
author
Darias, Helen
author
Puig Cayuela, Vicenç
author
Valencia Palomo, Guillermo
author
Dominguez-Zenteno, Joaquín
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Guerrero Sánchez, María Eusebia
2024-06-01
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.This work was supported by Tecnológico Nacional de México under the program Proyectos de Investigación Científica, Desarrollo Tecnológico e Innovación and the international network Red Internacional de Control y Cómputo Aplicado, Mexico. Additional support was provided by CONAHCYT through the program Investi- gadoras e Investigadores por México, project 88, and a scholarship for Helen Darias.Peer ReviewedPostprint (published version)
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ Open Access Attribution-NonCommercial-NoDerivs 3.0 Spain
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Convex control
Multiagent system
Differential robots
Tracking control
Cooperative convex control of multiagent systems applied to differential drive robots
Article