Title :
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
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;
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
DOI :
10.1109/ICEEE.2012.6421179
