Multirobot heterogeneous control considering secondary objectives

Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with di erent configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDI

A passivity approach to controller-observer design for robots

Passivity-based control methods for robots, which achieve the control objective by reshaping the robot system's natural energy via state feedback, have, from a practical point of view, some very attractive properties. However, the poor quality of velocity measurements may significantly deteriorate the control performance of these methods. In this paper the authors propose a design strategy that utilizes the passivity concept in order to develop combined controller-observer systems for robot motion control using position measurements only. To this end, first a desired energy function for the closed-loop system is introduced, and next the controller-observer combination is constructed such that the closed-loop system matches this energy function, whereas damping is included in the controller- observer system to assure asymptotic stability of the closed-loop system. A key point in this design strategy is a fine tuning of the controller and observer structure to each other, which provides solutions to the output-feedback robot control problem that are conceptually simple and easily implementable in industrial robot applications. Experimental tests on a two-DOF manipulator system illustrate that the proposed controller-observer systems enable the achievement of higher performance levels compared to the frequently used practice of numerical position differentiation for obtaining a velocity estimat

A Convex Approach to Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Vehicles

This report addresses the related problems of trajectory generation and time-optimal path tracking with online obstacle avoidance. We consider the class of four-wheeled vehicles with independent steering and driving on each wheel, also referred to as pseudo-omnidirectional vehicles. Appropriate approximations of the dynamic model enable a convex reformulation of the path-tracking problem. Using the precomputed trajectories together with model predictive control that utilizes feedback from the estimated global pose, provides robustness to model uncertainty and disturbances. The considered approach also incorporates avoidance of a priori unknown moving obstacles by local online replanning. We verify the approach by successful execution on a pseudo-omnidirectional mobile robot, and compare it to an existing algorithm. The result is a significant decrease in the time for completing the desired path. In addition, the method allows a smooth velocity trajectory while avoiding intermittent stops in the path execution

Review of Intelligent Control Systems with Robotics

Interactive between human and robot assumes a significant job in improving the productivity of the instrument in mechanical technology. Numerous intricate undertakings are cultivated continuously via self-sufficient versatile robots. Current automated control frameworks have upset the creation business, making them very adaptable and simple to utilize. This paper examines current and up and coming sorts of control frameworks and their execution in mechanical technology, and the job of AI in apply autonomy. It additionally expects to reveal insight into the different issues around the control frameworks and the various approaches to fix them. It additionally proposes the basics of apply autonomy control frameworks and various kinds of mechanical technology control frameworks. Each kind of control framework has its upsides and downsides which are talked about in this paper. Another kind of robot control framework that upgrades and difficulties the pursuit stage is man-made brainpower. A portion of the speculations utilized in man-made reasoning, for example, Artificial Intelligence (AI) such as fuzzy logic, neural network and genetic algorithm, are itemized in this paper. At long last, a portion of the joint efforts between mechanical autonomy, people, and innovation were referenced. Human coordinated effort, for example, Kinect signal acknowledgment utilized in games and versatile upper-arm-based robots utilized in the clinical field for individuals with inabilities. Later on, it is normal that the significance of different sensors will build, accordingly expanding the knowledge and activity of the robot in a modern domai

Integral Backstepping Approach for Mobile Robot Control

This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control

Feasible, Robust and Reliable Automation and Control for Autonomous Systems

The Special Issue book focuses on highlighting current research and developments in the automation and control field for autonomous systems as well as showcasing state-of-the-art control strategy approaches for autonomous platforms. The book is co-edited by distinguished international control system experts currently based in Sweden, the United States of America, and the United Kingdom, with contributions from reputable researchers from China, Austria, France, the United States of America, Poland, and Hungary, among many others. The editors believe the ten articles published within this Special Issue will be highly appealing to control-systems-related researchers in applications typified in the fields of ground, aerial, maritime vehicles, and robotics as well as industrial audiences