A passivity-based approach for constrained mobile robotic networks

Tam Nguyen; Mamoru Doi; Takeshi Hatanaka; Emanuele Garone; Masayuki Fujita

doi:10.1109/CDC.2016.7798929

A passivity-based approach for constrained mobile robotic networks

Tam Nguyen, Mamoru Doi, Takeshi Hatanaka, Emanuele Garone, Masayuki Fujita

Electric and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper presents a strategy for the position control of mobile robotic networks subject to geometric con- straints. The main idea of this paper is to show that passivity arguments can be used to ensure both stability and constraint satisfaction. It is shown that it is possible to pre-stabilize the system dynamics with a proportional-integral consensus estimator and a proportional feedback loop which make use of passivity arguments. Then, the very same passivity arguments are used to ensure constraint satisfaction, using a set-invariance based Reference Governor. Simulations and experiments are carried out to demonstrate the effectiveness of the proposed solution.

Original language	English
Title of host publication	2016 IEEE 55th Conference on Decision and Control, CDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4352-4357
Number of pages	6
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7798929
State	Published - 2016/12/27
Event	55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: 2016/12/12 → 2016/12/14

Publication series

Name	2016 IEEE 55th Conference on Decision and Control, CDC 2016

Conference

Conference	55th IEEE Conference on Decision and Control, CDC 2016
Country/Territory	United States
City	Las Vegas
Period	2016/12/12 → 2016/12/14

ASJC Scopus subject areas

Artificial Intelligence
Decision Sciences (miscellaneous)
Control and Optimization

Access to Document

10.1109/CDC.2016.7798929

Cite this

Nguyen, T., Doi, M., Hatanaka, T., Garone, E., & Fujita, M. (2016). A passivity-based approach for constrained mobile robotic networks. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 4352-4357). Article 7798929 (2016 IEEE 55th Conference on Decision and Control, CDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798929

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author = "Tam Nguyen and Mamoru Doi and Takeshi Hatanaka and Emanuele Garone and Masayuki Fujita",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 55th IEEE Conference on Decision and Control, CDC 2016 ; Conference date: 12-12-2016 Through 14-12-2016",

year = "2016",

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Nguyen, T, Doi, M, Hatanaka, T, Garone, E & Fujita, M 2016, A passivity-based approach for constrained mobile robotic networks. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7798929, 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 4352-4357, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 2016/12/12. https://doi.org/10.1109/CDC.2016.7798929

A passivity-based approach for constrained mobile robotic networks. / Nguyen, Tam; Doi, Mamoru; Hatanaka, Takeshi et al.
2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4352-4357 7798929 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper presents a strategy for the position control of mobile robotic networks subject to geometric con- straints. The main idea of this paper is to show that passivity arguments can be used to ensure both stability and constraint satisfaction. It is shown that it is possible to pre-stabilize the system dynamics with a proportional-integral consensus estimator and a proportional feedback loop which make use of passivity arguments. Then, the very same passivity arguments are used to ensure constraint satisfaction, using a set-invariance based Reference Governor. Simulations and experiments are carried out to demonstrate the effectiveness of the proposed solution.

AB - This paper presents a strategy for the position control of mobile robotic networks subject to geometric con- straints. The main idea of this paper is to show that passivity arguments can be used to ensure both stability and constraint satisfaction. It is shown that it is possible to pre-stabilize the system dynamics with a proportional-integral consensus estimator and a proportional feedback loop which make use of passivity arguments. Then, the very same passivity arguments are used to ensure constraint satisfaction, using a set-invariance based Reference Governor. Simulations and experiments are carried out to demonstrate the effectiveness of the proposed solution.

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A passivity-based approach for constrained mobile robotic networks

Abstract

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Conference

ASJC Scopus subject areas

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Cite this