Cluster space LPV control of robot formations

ALEJANDRO GHERSIN; JUAN I. GIRIBET; IGNACIO MAS

Concepcion

Congreso; IEEE International Conference on Automation - XXIII Congress of the Chilean Association of Automatic Control; 2018

IEEE

Within the Cluster Space robot formation controlscheme, a new approach is presented where a cascaded controlscheme is proposed. On one hand, a simple secondary (inner)loop is used to control the formation?s velocity in Robot Space,while on the other hand a quasi-LPV (Linear Parameter Varying)approach is employed for the design of the main (outer) controlloop where the geometry and kinematics of the problem arecaptured by the LPV formulation. Certain aspects of the designsuch as stability are tackled, and the use of parameter-dependentweighting functions is discussed through a design example testedin simulations in order to illustrate the use of the method.