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Discrete-time synchronization strategy for input time-delay mobile robots |
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| Authors: | M Velasco-Villa R Castro-Linares F Rosales-Hernández B del Muro-Cuéllar MA Hernández-Pérez |
| Institution: | 1. CINVESTAV-IPN, Departamento de Ingeniería Eléctrica, Sección de Mecatrónica, Av. IPN, No. 2508, Col. San Pedro Zacatenco, 07300 México D.F., Mexico;2. Escuela Superior de Ingeniería Mecánica y Eléctrica, Unidad Culhuacan, Instituto Politécnico Nacional, México D.F. 04430, Mexico;1. Department of Civil Engineering and Computer Science, University of Rome “Tor Vergata”, via del Politecnico 1, 00133 Rome, Italy;2. Department of Engineering, University of Ferrara, via Saragat 1, 44122 Ferrara, Italy;3. Servizio Tecnico di Bacino Po di Volano e della Costa, Regione Emilia Romagna, viale Cavour 77, 44121 Ferrara, Italy;1. Department of Civil and Environmental Engineering, University of Western Ontario, London, Canada N6A 5B9;2. The Boundary Layer Wind Tunnel Laboratory, University of Western Ontario, London, Canada N6A 5B9;1. Geo-materials Development Laboratory (GMDL), M’Sila University, Algeria;2. Department of Civil Engineering, Ryerson University, Toronto, Canada;1. Université catholique de Louvain, Belgium;2. University of Illinois at Urbana–Champaign, USA |
| Abstract: | This paper considers a synchronization strategy for a group of differentially driven mobile robots subject to input time-delayed control signals. The continuous time model of the vehicles is exactly discretized in order to obtain a larger dimension representation free of delays. The control strategy is based on the concept of synchronization, under two main assumptions: a specific formation for the group of robots and the tracking of a particular desired trajectory. The control strategy proposed in this work allows the consideration of causal feedback laws avoiding the use of an additional prediction strategy that counteracts the undesired input time-delay effects. The performance of the synchronization strategy is evaluated by real-time experiments with the help of a group of three mobile robots and an indoor absolute localization system based on artificial vision. |
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