Experimental comparison between discrete- and continuous-time controllers for multi-agent robots systems

Author

Aranda-Bricaire, E. ; Hernandez-Mendoza, D.E. ; Penaloza-Mendoza, G.R.

Author_Institution

Dept. of Electr. Eng., CINVESTAV, Mexico City, Mexico

fYear

2012

fDate

26-28 Sept. 2012

Firstpage

1

Lastpage

6

Abstract

This paper presents an experimental comparison between discrete- and continuous-time formation and marching controllers for Multi-Agent Systems. The analysis is applied to the kinematic model of unicycle-type robots where the output function is a point off the robots´ wheels axis. The control strategies are based on Artificial Potential Functions. The discrete-time model is obtained using Euler approximation. The comparison is made by matching the sum of the control signals of all the robots. Since there is an algebraic relation between the control signals and the energy applied to the system, if the overall control is equal for both schemes then the errors of the discrete- and continuous-time schemes can be compared.

Keywords

approximation theory; continuous time systems; discrete time systems; mobile robots; multi-agent systems; multi-robot systems; path planning; robot kinematics; wheels; Euler approximation; algebraic relation; artificial potential functions; continuous-time formation controllers; continuous-time marching controllers; discrete-time formation controllers; discrete-time marching controllers; discrete-time model; multiagent robot systems; output function; robot wheel axis; unicycle-type robot kinematic model; Kinematics; Mobile robots; Performance analysis; Robot kinematics; Trajectory; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering, Computing Science and Automatic Control (CCE), 2012 9th International Conference on

Conference_Location

Mexico City

Print_ISBN

978-1-4673-2170-9

Type

conf

DOI

10.1109/ICEEE.2012.6421179

Filename

6421179