Sliding Mode Reference Coordination of Constrained Feedback Systems

[EN] This paper addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g., linear and nonlinear, different orders, constraints, etc.) to achieve some desired collective behavior under the constraints and capabilities of each system. To this end, we develop a new methodology based on reference conditioning techniques using geometric set invariance and sliding mode control: the sliding mode reference coordination (SMRCoord). The main idea is to coordinate the systems references. Starting from a general framework, we propose two approaches: a local one through direct interactions between the different systems by sharing and conditioning their own references and a global centralized one, where a central node makes decisions using information coming from the systems references. In particular, in this work we focus in implementation on multivariable systems like unmanned aerial vehicles (UAVs) and robustness to external perturbations. To show the applicability of the approach, the problem of coordinating UAVs with input constraints is addressed as a particular case of multivariable reference coordination with both global and local configuration.Research in this area is partially supported by Argentine government (ANPCyT PICT 2011-0888 and CONICET PIP 112-2011-00361), Spanish government (FEDER-CICYT DPI2011-28112-C04-01), and Universitat Politecnica de Valencia (Grant FPI/2009-21)Vignoni, A.; Garelli, F.; Picó, J. (2013). Sliding Mode Reference Coordination of Constrained Feedback Systems. Mathematical Problems in Engineering. 2013:1-11. https://doi.org/10.1155/2013/764348S1112013Information consensus in multivehicle cooperative control. (2007). IEEE Control Systems, 27(2), 71-82. doi:10.1109/mcs.2007.338264Cao, Y., Yu, W., Ren, W., & Chen, G. (2013). An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination. 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Heterogeneous robots: Model Predictive Control for bearing-only formation and tracking

openMulti-agent systems are systems composed by more than one autonomous robots which usually work under the assumption that they can communicate sending and receiving positions of other robots that operate in the network. The introduction of this kind of systems is due to the fact that in many situations it is preferable to use more than one robot in order to reach more complex goal without the help of the humans, especially in dangerous situations. In this thesis, the focus is on the heterogeneous robots which are robots whose components are heterogeneous in terms of actuation capabilities, even if it is assumed they can receive bearing information with respect to the other agents in the network. Hence, it is developed an heterogeneous MAS composed by 2 UGVs and 2 UAVs. The goals of the thesis is that the formation has to be maintained and the four agents has also to track a desired trajectory through a leader follower approach based on bearing-only implemented using MPC controllers. The role of the leader is to track the desired trajectory while the followers have to form and maintain the formation also during the tracking. The followers do not know the trajectory to be tracked, nor the distance to the other agents and the leader. The approach is based on decentralized leader follower control with bearing-only. The controllers used are the Model Predictive ones since this type of control allow to prevent the critical situations, solving an online optimization problem at each time instant to select the best control action that drives the predicted output to the reference. The proposed approach is implemented in Matlab and Simulink and the results obtained by the simulations will be discussed.Multi-agent systems are systems composed by more than one autonomous robots which usually work under the assumption that they can communicate sending and receiving positions of other robots that operate in the network. The introduction of this kind of systems is due to the fact that in many situations it is preferable to use more than one robot in order to reach more complex goal without the help of the humans, especially in dangerous situations. In this thesis, the focus is on the heterogeneous robots which are robots whose components are heterogeneous in terms of actuation capabilities, even if it is assumed they can receive bearing information with respect to the other agents in the network. Hence, it is developed an heterogeneous MAS composed by 2 UGVs and 2 UAVs. The goals of the thesis is that the formation has to be maintained and the four agents has also to track a desired trajectory through a leader follower approach based on bearing-only implemented using MPC controllers. The role of the leader is to track the desired trajectory while the followers have to form and maintain the formation also during the tracking. The followers do not know the trajectory to be tracked, nor the distance to the other agents and the leader. The approach is based on decentralized leader follower control with bearing-only. The controllers used are the Model Predictive ones since this type of control allow to prevent the critical situations, solving an online optimization problem at each time instant to select the best control action that drives the predicted output to the reference. The proposed approach is implemented in Matlab and Simulink and the results obtained by the simulations will be discussed