Decentralized event-based leader-following consensus for a group of two-wheeled self-balancing robots

[EN] This paper deals with the development of a decentralized event-based control strategy applied to the leader-following consensus problem of a group of two-wheeled self-balancing robots so called mobile inverted pendulum (MIP). The MIP’s nonlinear mathematical model which includes the dynamics of the actuators is presented. Then, the model around an operating point is considered which allows to exploit the differential flatness property of the system, permitting a complete parametrization in terms of the flat output. Assuming that the vehicle network exchange information through a directed and strongly connected graph, a decentralized control law is designed, and an event-based algorithm is developed. Then each MIP decides, based on the difference of its current state and its latest broadcast state, when it has to send a new value to its neighbors. The stability of the complete system is carried out in the Lyapunov sense together with the ISS (Input-to-State Stability) approach. Numerical results show the advantages \textit{wrt} information exchange between MIPs, as well as a good performance in the angular stabilization under two scenarios: regulation and tracking problem.[ES] El trabajo presenta el diseno de una estrategia de control distribuido con comunicación activada por eventos, que resuelve el problema de consenso líder-seguidor, de un conjunto de robots móviles tipo péndulo invertido (RMPI). La linealización de las ecuaciones de movimiento de los RMPI, alrededor del punto de equilibrio, permiten explotar las propiedades de planitud diferencial, dando lugar a una reparametrización del sistema mediante la salida plana. Asumiendo que los vehículos se comunican mediante una red, cuya topología es representada por un grafo no dirigido y fuertemente conectado, se disena una ley de control distribuido y una funcion de evento que indica el instante en el que el i-ésimo vehículo debe transmitir informacion (su estado) a sus vecinos. El resultado es un intercambio asíncrono de información entre vehículos y donde el tiempo entre eventos no es equidistante. El análisis de estabilidad se lleva a cabo en el sentido de Lyapunov y en el sentido entrada-estado ISS (Input-to-State Stability). Los resultados en simulación numérica muestran el buen desempeño del consenso de la red de vehículos en dos escenarios representativos: regulación y seguimiento de trayectoria.Ramírez-Cárdenas, O.; Guerrero-Castellanos, J.; Linares-Flores, J.; Durand, S.; Guerrero-Sánchez, W. (2019). Control descentralizado basado en eventos para el consenso de múltiples robots tipo péndulo invertido en el esquema líder-seguidor. Revista Iberoamericana de Automática e Informática. 16(4):435-446. https://doi.org/10.4995/riai.2019.11113435446164Ahmed, N., Cortes, J., Martinez, S., 2016a. Distributed control and estimation of robotic vehicle networks: Overview of the special issue. 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