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},
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.}
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.},
abstract = {Cooperation between autonomous robot vehicles holds several promising advantages like robustness, adaptability, configurability, and scalability. Coordination between the different robots and the individual relative motion represent both the main challenges especially when dealing with formation control and maintenance. Cluster space control provides a simple concept for controlling multi-agent formation. In the classical approach, formation control is the unique task for the multi-agent system. In this paper, the development and application of a novel Behavioral Adaptive Fuzzy-based Cluster Space Control (BAFC) to non-holonomic robots is presented. By applying a fuzzy priority control approach, BAFC deals with two conflicting tasks: formation maintenance and target following. Using priority rules, the fuzzy approach is used to adapt the controller and therefore the behavior of the system, taking into accounts the errors in the formation states and the target following states. The control approach is easy to implement and has been implemented in this paper using SIMULINK real-time platform. The communication between the different agents and the controller is established through Wi-Fi link. Both simulation and experimental results demonstrate the behavioral response where the robot performs the higher priority tasks first. This new approach shows a great performance with a lower control signal when benchmarked with previously known results in the literature.}
abstract = {This paper deals with formation control strategies based on Virtual Structure (VS) for multi-vehicle systems. We propose several control laws for networked multi-nonholonomic vehicle systems in order to achieve VS consensus, VS Flocking and VS Flocking with collision-avoidance. First, Virtual Vehicle for the feedback linearization is considered, and we propose VS consensus and Flocking control laws based on a virtual structure and consensus algorithms. Then, VS Flocking control law considering collision avoidance is proposed and its asymptotical stability is proven. Finally, simulation and experimental results show effectiveness of our proposed approaches.}
}
@inproceedings{wang2014,
author = {X. {Wang} and Z. {Yan} and J. {Wang}},
booktitle = {2014 International Joint Conference on Neural Networks (IJCNN)},
title = {Model predictive control of multi-robot formation based on the simplified dual neural network},
