TY - GEN
T1 - A passivity-based approach for constrained mobile robotic networks
AU - Nguyen, Tam
AU - Doi, Mamoru
AU - Hatanaka, Takeshi
AU - Garone, Emanuele
AU - Fujita, Masayuki
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/27
Y1 - 2016/12/27
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.
UR - http://www.scopus.com/inward/record.url?scp=85010727527&partnerID=8YFLogxK
U2 - 10.1109/CDC.2016.7798929
DO - 10.1109/CDC.2016.7798929
M3 - 会議への寄与
AN - SCOPUS:85010727527
T3 - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
SP - 4352
EP - 4357
BT - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 55th IEEE Conference on Decision and Control, CDC 2016
Y2 - 12 December 2016 through 14 December 2016
ER -