{"id":117280,"date":"2018-03-11T10:46:42","date_gmt":"2018-03-11T10:46:42","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/consensus-control-in-robot-networks-and-cooperative-teleoperation-an-operational-space-approach\/"},"modified":"2018-03-11T10:46:42","modified_gmt":"2018-03-11T10:46:42","slug":"consensus-control-in-robot-networks-and-cooperative-teleoperation-an-operational-space-approach","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/tecnologia-de-la-automatizacion\/consensus-control-in-robot-networks-and-cooperative-teleoperation-an-operational-space-approach\/","title":{"rendered":"Consensus control in robot networks and cooperative teleoperation: an operational space approach"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Carlos Ivan Aldana Lopez <\/strong><\/h2>\n<p>Un enfoque interesante en el control cooperativo es el dise\u00f1o de estrategias de control distribuido que requieran s\u00f3lo informaci\u00f3n local para que un sistema multi-agente logre comportamientos espec\u00edficos.  Un comportamiento b\u00e1sico del control cooperativo es el consenso. Dado un sistema multi-agente, como una red de m\u00faltiples robots, se dice que los agentes llegan a un consenso si el estado de cada agente converge a un estado com\u00fan. Algunos ejemplos de tareas cooperativas en las que los algoritmos de consenso son utilizados son los siguientes: el control de la formaci\u00f3n, flocking, rendezvous y sincronizaci\u00f3n. Estas tareas cooperativas tienen varias aplicaciones posibles, como: sistemas de transporte (carreteras inteligentes , control de tr\u00e1fico a\u00e9reo); sistemas militares (vuelo en formaci\u00f3n, vigilancia, reconocimiento, ataque cooperativo) y redes de sensores m\u00f3viles (interfer\u00f3metros en el espacio, el muestreo del ambiente). la soluci\u00f3n a los problemas de consenso implica el dise\u00f1o de algoritmos de control de tal manera que los agentes pueden llegar a un acuerdo sobre sus estados. Hay dos problemas principales que se estudian en el consenso, el consenso l\u00edder-seguidor y el consenso sin l\u00edder. En el problema de consenso l\u00edder-seguidor, existe un l\u00edder que especifica el estado de todo el grupo, mientras que en un problema de consenso sin l\u00edder, no hay ning\u00fan estado de referencia definido a priori. el objetivo principal de esta tesis es el dise\u00f1o de controladores en el espacio operacional que resuelvan los problemas de consenso l\u00edder-seguidor y sin l\u00edder en redes compuestas de m\u00faltiples robots heterog\u00e9neos. Adem\u00e1s, este documento propone novedosos esquemas de control en el espacio operacional para sistemas de teleoperaci\u00f3n bilateral. En ambos escenarios, se estudian diferentes condiciones, tales como la ausencia de medidas de velocidad de los robots, retardos constantes y variables en la interconexi\u00f3n de los robots y la incertidumbre en los par\u00e1metros f\u00edsicos de los robots. la mayor\u00eda de los anteriores algoritmos de control que resuelven el consenso, s\u00f3lo trabajan con la posici\u00f3n o la orientaci\u00f3n, pero no con ambos. Por el contrario, esta tesis doctoral se ocupa de toda la pose de los robots que contiene tanto la posici\u00f3n y la orientaci\u00f3n. Por otra parte, a fin de usar una representaci\u00f3n de la orientaci\u00f3n libre de singularidades, se emplean los  cuaterniones  unitarios. esta tesis doctoral proporciona un an\u00e1lisis riguroso de la estabilidad de los algoritmos de control y presenta simulaciones y experimentos que validan la eficacia de los controladores propuestos<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Consensus control in robot networks and cooperative teleoperation: an operational space approach<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Consensus control in robot networks and cooperative teleoperation: an operational space approach <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Carlos Ivan Aldana Lopez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de catalunya<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 17\/03\/2015<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Luis Bas\u00e1\u00f1ez Villaluenga<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: ra\u00fal Su\u00e1rez feijoo <\/li>\n<li>cristian Secchi (vocal)<\/li>\n<li>Fernando Torres medina (vocal)<\/li>\n<li>Luis Martinez salamero (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Carlos Ivan Aldana Lopez Un enfoque interesante en el control cooperativo es el dise\u00f1o de estrategias de [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"footnotes":""},"categories":[30814,39297,15596,13355,9462],"tags":[231168,231169,44687,46812,46811,46423],"class_list":["post-117280","post","type-post","status-publish","format-standard","hentry","category-estabilidad-y-control-de-aeronaves","category-maquinaria-industrial","category-politecnica-de-catalunya","category-sistemas-de-control","category-tecnologia-de-la-automatizacion","tag-carlos-ivan-aldana-lopez","tag-cristian-secchi","tag-fernando-torres-medina","tag-luis-basanez-villaluenga","tag-luis-Martinez-salamero","tag-raul-suarez-feijoo"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/117280","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/comments?post=117280"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/117280\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=117280"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=117280"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=117280"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}