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Robust Discrete-Time Markovian Control for Wheeled Mobile Robot Formation: A Fault Tolerant Approach

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Abstract

In this paper we use a recursive robust regulator for discrete time Markovian jump linear systems to control a group of wheeled mobile robots in formation. A leader-following formation is used with directed communication topology. The robustness is checked with a communication fault in blind areas and, if the fault affects the leader, the leadership is changed and the formation continues to follow the defined trajectory. When the communication is reestablished all robots that lost communication return to their position in the formation. Results based on simulation and real implementation are presented to show the effectiveness of the formation control approach used.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, São Carlos School of Engineering, University of São Paulo, São Carlos, Brazil

    M. E. Nakai, M. H. Terra & V. Grassi Jr.

  2. Department of Electrical Engineering, Federal University of São Carlos, São Carlos, Brazil

    R. S. Inoue

Authors
  1. M. E. Nakai
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  2. R. S. Inoue
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  3. M. H. Terra
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  4. V. Grassi Jr.
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Correspondence to M. E. Nakai.

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Nakai, M.E., Inoue, R.S., Terra, M.H. et al. Robust Discrete-Time Markovian Control for Wheeled Mobile Robot Formation: A Fault Tolerant Approach. J Intell Robot Syst 91, 233–247 (2018). https://doi.org/10.1007/s10846-017-0723-2

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  • DOI: https://doi.org/10.1007/s10846-017-0723-2

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