author = "Luisa Fernanda Quesada and José David Rojas and Orlando Arrieta and Ramon Vilanova",
keywords = "Controlled system, insulin control, Hardware in the loop, PID control, Optimal control",
abstract = "Artificial pancreas control is an important research area in the biomedical field. However, it is dangerous to test new control algorithms on humans in order to improve the performance of the control system. This paper presents the results of using an open-source low-cost hardware in the loop platform to test different control strategies for artificial pancreas research. An Arduino platform was selected as the main device to implement the real time differential equations solver needed for the HIL simulation. The platform was successfully tested with both a PID controller and an LQR controller. The code and schematics of the platform are available upon request."
}
@Article{Hacene2019,
author="Hacene, Nacer
and Mendil, Boubekeur",
title="Fuzzy Behavior-based Control of Three Wheeled Omnidirectional Mobile Robot",
journal="International Journal of Automation and Computing",
year="2019",
month=Apr,
day="01",
volume="16",
number="2",
pages="163--185",
abstract="In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot (TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors ``Track the Target'' and ``Avoid Obstacles and Wall Following'' are considered based on reduced rule bases (six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.",
issn="1751-8520",
doi="10.1007/s11633-018-1135-x",
url="https://doi.org/10.1007/s11633-018-1135-x"
}
@Inbook{Fabien2009,
author="Fabien, Brian",
title="Numerical Solution of ODEs and DAEs",
bookTitle="Analytical System Dynamics: Modeling and Simulation",
year="2009",
publisher="Springer US",
address="Boston, MA",
pages="1--59",
isbn="978-0-387-85605-6",
doi="10.1007/978-0-387-85605-6_5",
url="https://doi.org/10.1007/978-0-387-85605-6_5"
}
@article{CORREIA20127,
title = "Modeling of a Three Wheeled Omnidirectional Robot Including Friction Models",
journal = "IFAC Proceedings Volumes",
volume = "45",
number = "22",
pages = "7 - 12",
year = "2012",
note = "10th IFAC Symposium on Robot Control",
issn = "1474-6670",
doi = "https://doi.org/10.3182/20120905-3-HR-2030.00002",
author = "Mariane Dourado Correia and André Gustavo and Scolari Conceição",
keywords = "Models, Friction, Parameter estimation, Autonomous mobile robots",
abstract = "This paper presents a model of a three-wheeled omnidirectional robot including a static friction model. Besides the modeling is presented a practical approach in order to estimate the coefficients of coulomb and viscous friction, which used sensory information about force and velocity of the robot's center of mass. The proposed model model has the voltages of the motors as inputs and the linear and angular velocities of the robot as outputs. Actual results and simulation with the estimated model are compared to demonstrate the performance of the proposed modeling."
}
@INPROCEEDINGS{Khaledyan2018,
author={M. {Khaledyan} and M. {de Queiroz}},
booktitle={2018 Annual American Control Conference (ACC)},
title={Translational Maneuvering Control of Nonholonomic Kinematic Formations: Theory and Experiments},
abstract = "We present a survey of formation control of multi-agent systems. Focusing on the sensing capability and the interaction topology of agents, we categorize the existing results into position-, displacement-, and distance-based control. We then summarize problem formulations, discuss distinctions, and review recent results of the formation control schemes. Further we review some other results that do not fit into the categorization."}
@INPROCEEDINGS{Cao2007,
author={M. {Cao} and A. S. {Morse} and C. {Yu} and B. D. O. {Anderson} and S. {Dasguvta}},
booktitle={2007 46th IEEE Conference on Decision and Control},
title={Controlling a triangular formation of mobile autonomous agents},
year={2007},
volume={},
number={},
pages={3603-3608},
abstract={This paper proposes a distributed control law for maintaining a triangular formation in the plane consisting of three mobile autonomous agents. It is shown that the control law can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} triangular formation to converge exponentially fast to a desired positively-oriented {resp. negatively- oriented} triangular formation. It is also shown that there is a thin set of initially collinear formations which remain collinear and may drift off to infinity as t rarr infin. These findings complement and extend earlier findings cited below.},
