Diseño y simulación de un control adaptable para una formación heterogénea de robots.

Abstract

The present work is based on the development of an adaptive control applied to a heterogeneous formation of mobile robots, composed of two unmanned ground vehicle (UGV) and a unmanned aerial vehicle (UAV). Initially, the mathematical modeling of both the land mobile robot and the UAV quadcopter is presented. Once the different models of the mobile robots have been analyzed, a mathematical representation of the heterogeneous formation is made that allows simulating the entire system as a whole and applying the designed controllers. On the other hand, the design of controllers that allow the tracking of the trajectory of the formation is carried out, in addition, adaptive type controllers are designed for ground robots, which allow compensating variations in the dynamic parameters. Different tests are carried out to verify the performance of this type of controllers, testing with different trajectories and varying the dynamic parameters (mass) of the terrestrial mobile robots. To check and evaluate the controllers, performance indices such as ISE, IAE and ISCO are used, which allow the degree of contribution of this type of controller to the system to be quantified.