Banca de DEFESA: Natalia Oliveira Borges

Uma banca de DEFESA de MESTRADO foi cadastrada pelo programa.
STUDENT : Natalia Oliveira Borges
DATE: 01/12/2023
TIME: 14:00
LOCAL: Videoconferência
TITLE:

Consensus Control for Multi-robot Formation

KEY WORDS:

Consensus Control, Linear Matriz Inequality, Formation, Communication Uncertainties.

PAGES: 118
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUBÁREA: Medidas Elétricas, Magnéticas e Eletrônicas; Instrumentação
SPECIALTY: Sistemas Eletrônicos de Medida e de Controle
SUMMARY:

The development of consensus control techniques has numerous applications in robotic multi-agent systems. This work aims to establish protocols for the design of robust consensus controller for linear multi-agent systems, based on output sharing among the agents. In this context, considerations are made regarding possible uncertainties related to the communication topology and the presence of disturbance inputs that can affect both the agents' dynamics and the measurement of their outputs. The design of the robust consensus controller is subsequently used to develop control laws that solve the formation problem in two distinct proposals: in the case where the formation is relative among the agents and time-invariant, and in the case where it is desired to track a time-variant formation, while maintaining the same conditions of uncertainties and disturbance effects. Finally, the developed linear controller design is applied in a robotic simulation with a group ofPioneer P3-DXmobile robots. In this scenario, it is necessary to linearize the robot's dynamics using the input-output feedback linearization technique. The results obtained from the application of multi-robot formation control are discussed, highlighting the main advantages and limitations.

COMMITTEE MEMBERS:
Interno - 1721810 - HENRIQUE CEZAR FERREIRA
Presidente - 1455289 - JOAO YOSHIYUKI ISHIHARA
Externo à Instituição - MARCO HENRIQUE TERRA - USP
Interno - 1848167 - RENATO ALVES BORGES