Robust and Fault Tolerant Control of Wheeled Mobile Robots In FormationThis paper deals with robust and fault tolerant controls of wheeled mobile robots (WMRs) in formation. The robust approach is based on output feedback nonlinear H ∞ control. The fault tolerant approach is based on output feedback H ∞ control of Markovian jump linear systems to ensure stability of the formation when one of the robots is lost during the coordinated motion. The coordination is performed with the robots following a leader, and any robot of the formation can assume the leadership randomly. The mobile robots exchange informations according to a pre-specified communication directed graph (digraph). tolerante a falhasé baseado em controle H ∞ por realimentação da saída de sistemas lineares sujeitos a saltos Markovianos para garantir estabilidade da formação quando um dos robôsé perdido durante o movimento coordenado. A coordenaçãoé realizada em função de um lider e qualquer robô da formação pode assumir a liderança de maneira aleatória. Os robôs móveis trocam informações de acordo com um grafo de comunicação direcionado (dígrafo), definido a-priori.
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