Fault tolerant control of coordinated motion of heterogeneous robots

• Grant number: 12/08106-0
• Support Opportunities: Regular Research Grants
• Start date: August 01, 2013
• End date: July 31, 2015
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Marco Henrique Terra
• Grantee: Marco Henrique Terra
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This proposal deals with the coordination of heterogeneous robots based on unmanned helicopters and mobile robots. The robots are controlled to follow a leader. Decentralized recursive robust regulators will be designed to maintain the robots in formation. It will be developed a fault tolerant control system based on linear Markovian jump linear systems to guarantee the stability when one or more robots get out of the formation. A Vicon cameras system will be used to perform the localization of the robots. This system will useful for other projects that have been developed in Center for Robotics created at USP São Carlos in the last year.Basic research related with coordination of heterogenous robots is included in a complex technological context. For civil and military applications, autonomous helicopters, cars, and aircrafts will be used in diverse appllications. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

CHAVEZ-FUENTES, JORGE R.; COSTA, EDUARDO F.; MAYTA, JORGE E.; TERRA, MARCO H.. Regularity and stability analysis of discrete-time Markov jump linear singular systems. AUTOMATICA, v. 76, p. 32-40, FEB 2017. (13/19380-8, 12/08106-0)