Communication network fault tolerant control for coordinated movement of heterogeneous robots

• Grant number: 17/16346-4
• Support Opportunities: Scholarships in Brazil - Doctorate (Direct)
• Start date: September 01, 2017
• End date: November 30, 2022
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Agreement: CNPq - INCTs
• Principal Investigator: Marco Henrique Terra
• Grantee: Kaio Douglas Teófilo Rocha
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment, AP.TEM

Abstract

In this project, we propose the development and implementation of a communication network fault tolerant control responsible for the coordination of Wheeled Mobile Robots (WMR) and a quadcopter. Two approaches for networked systems are combined: the first one is a filter designed for linear systems subjected to Markovian jumps to deal with package loss and the second is a state feedback switched controller to deal with the time delay problem. (AU)

Scientific publications

(14)

(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)

BUENO, JOSE NUNO A. D.; MARCOS, LUCAS B.; ROCHA, KAIO D. T.; TERRA, MARCO H.; IEEE. Robust Regulation of Markov Jump Linear Systems with Uncertain Polytopic Transition Probabilities. 2022 EUROPEAN CONTROL CONFERENCE (ECC), v. N/A, p. 6-pg., 2022-01-01. (14/50851-0, 21/08103-0, 17/16346-4)

ROCHA, KAIO D. T.; BUENO, JOSE NUNO A. D.; MARCOS, LUCAS B.; TERRA, MARCO H.. Polytopic Robust Distributed Kalman Consensus Filter for Sensor Networks. IFAC PAPERSONLINE, v. 55, n. 34, p. 6-pg., 2022-01-01. (14/50851-0, 21/08103-0, 17/16346-4)

CHAVEZ-FUENTES, JORGE R.; COSTA, EDUARDO F.; TERRA, MARCO H.; ROCHA, KAIO D. T.. The linear quadratic optimal control problem for discrete-time Markov jump linear singular systems. AUTOMATICA, v. 127, MAY 2021. (13/07375-0, 17/20934-9, 17/16346-4, 14/50851-0)

BUENO, JOSE NUNO A. D.; ROCHA, KAIO D. T.; TERRA, MARCO H.. Robust Recursive Regulator for Systems Subject to Polytopic Uncertainties. IEEE ACCESS, v. 9, p. 139352-139360, 2021. (17/16346-4, 14/50851-0)

BUENO, JOSE NUNO A. D.; MARCOS, LUCAS B. B.; ROCHA, KAIO D. T.; TERRA, MARCO H. H.. Regulation of Uncertain Markov Jump Linear Systems With Application on Automotive Powertrain Control. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, v. 53, n. 8, p. 13-pg., 2023-04-11. (21/08103-0, 17/16346-4, 14/50851-0)

BUENO, JOSE NUNO A. D.; ROCHA, KAIO D. T.; MARCOS, LUCAS B.; TERRA, MARCO H.; IEEE. Mode-Independent Regulator for Polytopic Markov Jump Linear Systems. 2022 30TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), v. N/A, p. 6-pg., 2022-01-01. (17/16346-4, 14/50851-0, 21/08103-0)

MARCOS, LUCAS B.; BUENO, JOSE NUNO A. D.; ROCHA, KAIO D. T.; TERRA, MARCO H.; IEEE. Longitudinal control of self-driving heavy-duty vehicles: a robust Markovian approach. 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC), v. N/A, p. 7-pg., 2022-01-01. (21/08103-0, 17/16346-4, 14/50851-0)

ROCHA, KAIO D. T.; TERRA, MARCO H.. Robust Distributed Consensus-Based Filtering for Uncertain Systems over Sensor Networks. IFAC PAPERSONLINE, v. 53, n. 2, p. 6-pg., 2020-01-01. (17/16346-4, 14/50851-0)

BUENO, JOSE NUNO A. D.; MARCOS, LUCAS B.; ROCHA, KAIO D. T.; TERRA, MARCO H.. Regulation of Markov Jump Linear Systems Subject to Polytopic Uncertainties. IEEE Transactions on Automatic Control, v. 67, n. 11, p. 8-pg., 2022-11-01. (14/50851-0, 21/08103-0, 17/16346-4)

BUENO, JOSE NUNO A. D.; MARCOS, LUCAS B.; ROCHA, KAIO D. T.; TERRA, MARCO H.; IEEE. Longitudinal Control of an Autonomous Truck With Unobserved Gears. 2021 IEEE URUCON, v. N/A, p. 4-pg., 2021-01-01. (17/16346-4, 14/50851-0)

ROCHA, KAIO D. T.; BUENO, JOSE NUNO A. D.; MARCOS, LUCAS B.; TERRA, MARCO H.; IEEE. Robust Kalman Filtering for Systems Subject to Polytopic Uncertainties. 2022 30TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), v. N/A, p. 6-pg., 2022-01-01. (14/50851-0, 21/08103-0, 17/16346-4)

BUENO, JOSE NUNO A. D.; ROCHA, KAIO D. T.; TERRA, MARCO H.; GONCALVES, LMG; DREWS, PLJ; DASILVA, BMF; DOSSANTOS, DH; DEMELO, JCP; CURVELO, CDF; FABRO, JA. Gain-Scheduled Robust Recursive Lateral Control for Autonomous Ground Vehicles Subject to Polytopic Uncertainties. 2020 XVIII LATIN AMERICAN ROBOTICS SYMPOSIUM, 2020 XII BRAZILIAN SYMPOSIUM ON ROBOTICS AND 2020 XI WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2020), v. N/A, p. 6-pg., 2020-01-01. (17/16346-4, 14/50851-0)

ROCHA, KAIO D. T.; TERRA, MARCO H.; IEEE. Robust Distributed Kalman Consensus Filter for Sensor Networks under Parametric Uncertainties. 2022 EUROPEAN CONTROL CONFERENCE (ECC), v. N/A, p. 7-pg., 2022-01-01. (17/16346-4, 14/50851-0)

ODORICO, ELIZANDRA K.; ROCHA, KAIO D. T.; TERRA, MARCO H.. Recursive Estimation for Discrete-Time Markovian Jump Singular Systems with Random State Delays. IFAC PAPERSONLINE, v. 52, n. 18, p. 6-pg., 2019-01-01. (17/16346-4, 14/50851-0)

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

ROCHA, Kaio Douglas Teófilo. Robust distributed filtering for sensor networks under parametric uncertainties. 2022. Doctoral Thesis - Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) São Carlos.