Communication network fault-tolerant control for coordinated movement of heterogeneous robots

• Grant number: 15/20531-6
• Support Opportunities: Scholarships in Brazil - Doctorate
• Start date: December 01, 2015
• End date: February 29, 2016
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Marco Henrique Terra
• Grantee: Willian Martins Leão
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

In this project it is proposed the development of a communication network fault-tolerant control for coordination of wheeled mobile robots (WMR) and a quadcopter. Two approaches will be considered to networked systems: the first is a filter for Markovian Jump Linear Systems to deal with package losses and the second is a state feedback switched controller to solve delay problems in the data transmission.