TY - JOUR
T1 - Periodic Event-Triggered Control strategy for a (3,0) mobile robot network
AU - Villarreal-Cervantes, Miguel G.
AU - Sánchez-Santana, J. Pedro
AU - Guerrero-Castellanos, J. Fermi
N1 - Publisher Copyright:
© 2019 ISA
PY - 2020/1
Y1 - 2020/1
N2 - This work deals with the development of a nonlinear Periodic Event-Triggered Control strategy employed to the consensus of a multi-vehicle autonomous system based on (3,0) mobile robots. First, the existence of the Control Lyapunov Function (CLF) applicable to the consensus problem is proven. This is subsequently used to develop event and feedback functions. The Periodic Event-Triggered Control ensures trajectories boundedness and convergence to consensus while a specific sampling period is provided. Also, the formation problem is addressed as an extension of the presented work. Experimental results show the performance of the proposed control strategy which reduces 99.78% the number of control updates compared to a continuous control law, resulting in energy saving for the information transfer from central control to the mobile robots.
AB - This work deals with the development of a nonlinear Periodic Event-Triggered Control strategy employed to the consensus of a multi-vehicle autonomous system based on (3,0) mobile robots. First, the existence of the Control Lyapunov Function (CLF) applicable to the consensus problem is proven. This is subsequently used to develop event and feedback functions. The Periodic Event-Triggered Control ensures trajectories boundedness and convergence to consensus while a specific sampling period is provided. Also, the formation problem is addressed as an extension of the presented work. Experimental results show the performance of the proposed control strategy which reduces 99.78% the number of control updates compared to a continuous control law, resulting in energy saving for the information transfer from central control to the mobile robots.
KW - Event-triggered control
KW - Mobile robots
KW - Multi-agent systems
KW - Network control systems
UR - http://www.scopus.com/inward/record.url?scp=85068848368&partnerID=8YFLogxK
U2 - 10.1016/j.isatra.2019.07.005
DO - 10.1016/j.isatra.2019.07.005
M3 - Artículo
C2 - 31320142
SN - 0019-0578
VL - 96
SP - 490
EP - 500
JO - ISA Transactions
JF - ISA Transactions
ER -