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Open AccessArticle

Self-Triggered Formation Control of Nonholonomic Robots

Electronics Department, University of Alcalá, Engineering School, Campus Universitario, 28871 Alcalá de Henares, Spain
Author to whom correspondence should be addressed.
Sensors 2019, 19(12), 2689;
Received: 23 April 2019 / Revised: 7 June 2019 / Accepted: 12 June 2019 / Published: 14 June 2019
(This article belongs to the Special Issue Mobile Robot Navigation)
In this paper, we report the design of an aperiodic remote formation controller applied to nonholonomic robots tracking nonlinear, trajectories using an external positioning sensor network. Our main objective is to reduce wireless communication with external sensors and robots while guaranteeing formation stability. Unlike most previous work in the field of aperiodic control, we design a self-triggered controller that only updates the control signal according to the variation of a Lyapunov function, without taking the measurement error into account. The controller is responsible for scheduling measurement requests to the sensor network and for computing and sending control signals to the robots. We design two triggering mechanisms: centralized, taking into account the formation state and decentralized, considering the individual state of each unit. We present a statistical analysis of simulation results, showing that our control solution significantly reduces the need for communication in comparison with periodic implementations, while preserving the desired tracking performance. To validate the proposal, we also perform experimental tests with robots remotely controlled by a mini PC through an IEEE 802.11g wireless network, in which robots pose is detected by a set of camera sensors connected to the same wireless network. View Full-Text
Keywords: self-triggered Lyapunov control; real-time scheduling; practical stability; remote guidance; formation control; nonlinear trajectory tracking self-triggered Lyapunov control; real-time scheduling; practical stability; remote guidance; formation control; nonlinear trajectory tracking
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MDPI and ACS Style

Santos, C.; Espinosa, F.; Martinez-Rey, M.; Gualda, D.; Losada, C. Self-Triggered Formation Control of Nonholonomic Robots. Sensors 2019, 19, 2689.

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