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Communication network fault tolerant control for coordinated movement of heterogeneous robots

Grant number: 17/16346-4
Support type:Scholarships in Brazil - Doctorate (Direct)
Effective date (Start): September 01, 2017
Effective date (End): August 31, 2022
Field of knowledge:Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
Cooperation agreement: CNPq - INCTs
Principal researcher:Marco Henrique Terra
Grantee:Kaio Douglas Teófilo Rocha
Home 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


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)

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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.; 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. Web of Science Citations: 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. Web of Science Citations: 0.

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