Robust formation-tracking control of mobile robots in a spanning-tree topology
Identifieur interne : 004250 ( Hal/Curation ); précédent : 004249; suivant : 004251Robust formation-tracking control of mobile robots in a spanning-tree topology
Auteurs : Janset Dasdemir [Turquie] ; Antonio Loria [France]Source :
Abstract
We solve the formation-tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one "leader" robot and with one follower. As in the classical tracking control problem for nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely and which is leader to one robot only. For a spanning-tree topology we show that persistency of excitation on the velocity of the virtual leader is sufficient and necessary to achieve consensus tracking. Furthermore, we establish uniform global exponential stability for the error system which implies robustness with respect to additive bounded disturbances. From a graph viewpoint, our main result corroborates that the existence of a spanning tree is necessary and sufficient for consensus as opposed to the usual but restrictive assumption of all-to-all undirected communication.
Url:
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: Pour aller vers cette notice dans l'étape Curation :004250
Links to Exploration step
Hal:hal-00831459Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Robust formation-tracking control of mobile robots in a spanning-tree topology</title>
<author><name sortKey="Dasdemir, Janset" sort="Dasdemir, Janset" uniqKey="Dasdemir J" first="Janset" last="Dasdemir">Janset Dasdemir</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-130351" status="VALID"><orgName>Electrical Engineering Department</orgName>
<desc><address><addrLine>Yildiz Central Campus Barbaros Bulvari 34349 Yildiz - Beßiktaß - Istanbul</addrLine>
<country key="TR"></country>
</address>
<ref type="url">http://www.yildiz.edu.tr/en/academics.php</ref>
</desc>
<listRelation><relation active="#struct-366898" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-366898" type="direct"><org type="institution" xml:id="struct-366898" status="INCOMING"><orgName>Yildiz Technical University</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>Turquie</country>
</affiliation>
</author>
<author><name sortKey="Loria, Antonio" sort="Loria, Antonio" uniqKey="Loria A" first="Antonio" last="Loria">Antonio Loria</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-1289" status="VALID"><idno type="RNSR">199812842X</idno>
<orgName>Laboratoire des signaux et systèmes</orgName>
<orgName type="acronym">L2S</orgName>
<desc><address><addrLine>Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.lss.supelec.fr/</ref>
</desc>
<listRelation><relation active="#struct-411575" type="direct"></relation>
<relation active="#struct-92966" type="direct"></relation>
<relation active="#struct-441569" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-411575" type="direct"><org type="institution" xml:id="struct-411575" status="VALID"><orgName>CentraleSupélec</orgName>
<desc><address><addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.centralesupelec.fr</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-92966" type="direct"><org type="institution" xml:id="struct-92966" status="VALID"><orgName>Université Paris-Sud - Paris 11</orgName>
<orgName type="acronym">UP11</orgName>
<desc><address><addrLine>Bâtiment 300 - 91405 Orsay cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.u-psud.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="IdRef">02636817X</idno>
<idno type="ISNI">0000000122597504</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">HAL</idno>
<idno type="RBID">Hal:hal-00831459</idno>
<idno type="halId">hal-00831459</idno>
<idno type="halUri">https://hal.archives-ouvertes.fr/hal-00831459</idno>
<idno type="url">https://hal.archives-ouvertes.fr/hal-00831459</idno>
<date when="2012-12">2012-12</date>
<idno type="wicri:Area/Hal/Corpus">004250</idno>
<idno type="wicri:Area/Hal/Curation">004250</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">Robust formation-tracking control of mobile robots in a spanning-tree topology</title>
<author><name sortKey="Dasdemir, Janset" sort="Dasdemir, Janset" uniqKey="Dasdemir J" first="Janset" last="Dasdemir">Janset Dasdemir</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-130351" status="VALID"><orgName>Electrical Engineering Department</orgName>
<desc><address><addrLine>Yildiz Central Campus Barbaros Bulvari 34349 Yildiz - Beßiktaß - Istanbul</addrLine>
<country key="TR"></country>
</address>
<ref type="url">http://www.yildiz.edu.tr/en/academics.php</ref>
</desc>
<listRelation><relation active="#struct-366898" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-366898" type="direct"><org type="institution" xml:id="struct-366898" status="INCOMING"><orgName>Yildiz Technical University</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>Turquie</country>
</affiliation>
</author>
<author><name sortKey="Loria, Antonio" sort="Loria, Antonio" uniqKey="Loria A" first="Antonio" last="Loria">Antonio Loria</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-1289" status="VALID"><idno type="RNSR">199812842X</idno>
<orgName>Laboratoire des signaux et systèmes</orgName>
<orgName type="acronym">L2S</orgName>
<desc><address><addrLine>Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.lss.supelec.fr/</ref>
</desc>
<listRelation><relation active="#struct-411575" type="direct"></relation>
<relation active="#struct-92966" type="direct"></relation>
<relation active="#struct-441569" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-411575" type="direct"><org type="institution" xml:id="struct-411575" status="VALID"><orgName>CentraleSupélec</orgName>
<desc><address><addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.centralesupelec.fr</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-92966" type="direct"><org type="institution" xml:id="struct-92966" status="VALID"><orgName>Université Paris-Sud - Paris 11</orgName>
<orgName type="acronym">UP11</orgName>
<desc><address><addrLine>Bâtiment 300 - 91405 Orsay cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.u-psud.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="IdRef">02636817X</idno>
<idno type="ISNI">0000000122597504</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc><address><country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
</analytic>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass></textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">We solve the formation-tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one "leader" robot and with one follower. As in the classical tracking control problem for nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely and which is leader to one robot only. For a spanning-tree topology we show that persistency of excitation on the velocity of the virtual leader is sufficient and necessary to achieve consensus tracking. Furthermore, we establish uniform global exponential stability for the error system which implies robustness with respect to additive bounded disturbances. From a graph viewpoint, our main result corroborates that the existence of a spanning tree is necessary and sufficient for consensus as opposed to the usual but restrictive assumption of all-to-all undirected communication.</div>
</front>
</TEI>
<hal api="V3"><titleStmt><title xml:lang="en">Robust formation-tracking control of mobile robots in a spanning-tree topology</title>
<author role="aut"><persName><forename type="first">Janset</forename>
<surname>Dasdemir</surname>
</persName>
<email></email>
<idno type="halauthor">858113</idno>
<affiliation ref="#struct-130351"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Antonio</forename>
<surname>Loria</surname>
</persName>
<email>loria@lss.supelec.fr</email>
<ptr type="url" target="http://www.lss.supelec.fr/perso/loria_antonio/"></ptr>
<idno type="halauthor">858111</idno>
<affiliation ref="#struct-1289"></affiliation>
</author>
<editor role="depositor"><persName><forename>Antonio</forename>
<surname>Loria</surname>
</persName>
<email>loria@lss.supelec.fr</email>
</editor>
</titleStmt>
<editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2013-06-07 10:13:20</date>
<date type="whenWritten">2012-12</date>
<date type="whenModified">2013-06-07 10:43:08</date>
<date type="whenReleased">2013-06-07 10:43:08</date>
<date type="whenProduced">2012-12</date>
<date type="whenEndEmbargoed">2013-06-07</date>
<ref type="file" target="https://hal.archives-ouvertes.fr/hal-00831459/document"><date notBefore="2013-06-07"></date>
</ref>
<ref type="file" subtype="author" n="1" target="https://hal.archives-ouvertes.fr/hal-00831459/file/unicycle-dyn-mod-2.pdf"><date notBefore="2013-06-07"></date>
</ref>
</edition>
<respStmt><resp>contributor</resp>
<name key="147168"><persName><forename>Antonio</forename>
<surname>Loria</surname>
</persName>
<email>loria@lss.supelec.fr</email>
</name>
</respStmt>
</editionStmt>
<publicationStmt><distributor>CCSD</distributor>
<idno type="halId">hal-00831459</idno>
<idno type="halUri">https://hal.archives-ouvertes.fr/hal-00831459</idno>
<idno type="halBibtex">dasdemir:hal-00831459</idno>
<idno type="halRefHtml">In revision, submitted to International J. of Control. 2012</idno>
<idno type="halRef">In revision, submitted to International J. of Control. 2012</idno>
</publicationStmt>
<seriesStmt><idno type="stamp" n="L2S">Laboratoire des signaux et systèmes</idno>
<idno type="stamp" n="SUPELEC">SUPELEC</idno>
<idno type="stamp" n="SUP_LSS" p="CENTRALESUPELEC">Laboratoire des Signaux et Systèmes</idno>
<idno type="stamp" n="SUP_SYSTEMES" p="CENTRALESUPELEC">Pôle Systèmes</idno>
</seriesStmt>
<notesStmt><note type="commentary">In revision, submitted to International J. of Control</note>
<note type="audience" n="1">Not set</note>
</notesStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">Robust formation-tracking control of mobile robots in a spanning-tree topology</title>
<author role="aut"><persName><forename type="first">Janset</forename>
<surname>Dasdemir</surname>
</persName>
<idno type="halAuthorId">858113</idno>
<affiliation ref="#struct-130351"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Antonio</forename>
<surname>Loria</surname>
</persName>
<email>loria@lss.supelec.fr</email>
<ptr type="url" target="http://www.lss.supelec.fr/perso/loria_antonio/"></ptr>
<idno type="halAuthorId">858111</idno>
<affiliation ref="#struct-1289"></affiliation>
</author>
</analytic>
<monogr><imprint></imprint>
</monogr>
</biblStruct>
</sourceDesc>
<profileDesc><langUsage><language ident="en">English</language>
</langUsage>
<textClass><classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode>
<classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
<classCode scheme="halTypology" n="UNDEFINED">Preprints, Working Papers, ...</classCode>
</textClass>
<abstract xml:lang="en">We solve the formation-tracking control problem for mobile robots via linear control, under the assumption that each agent communicates only with one "leader" robot and with one follower. As in the classical tracking control problem for nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely and which is leader to one robot only. For a spanning-tree topology we show that persistency of excitation on the velocity of the virtual leader is sufficient and necessary to achieve consensus tracking. Furthermore, we establish uniform global exponential stability for the error system which implies robustness with respect to additive bounded disturbances. From a graph viewpoint, our main result corroborates that the existence of a spanning tree is necessary and sufficient for consensus as opposed to the usual but restrictive assumption of all-to-all undirected communication.</abstract>
</profileDesc>
</hal>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Wicri/Lorraine/explor/InforLorV4/Data/Hal/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004250 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Hal/Curation/biblio.hfd -nk 004250 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Wicri/Lorraine |area= InforLorV4 |flux= Hal |étape= Curation |type= RBID |clé= Hal:hal-00831459 |texte= Robust formation-tracking control of mobile robots in a spanning-tree topology }}
This area was generated with Dilib version V0.6.33. |