Control of Networks of Robots: Dealing with Input Saturation, Nonholonomic Constraints, Delays and Lack of Velocity Measurements

Speaker: Emmanuel Nuño

Day: July 12 at 12.00.

Venue:  Aula Seminari de l’IOC (Av. Diagonal 647, planta 11, edifici ETSEIB).

Summary:

The talk presents our recent results on the control of networks of robots. It explores the solution to the consensus (formation) problem, where the objective is that all robots agree at a common position. In particular, the talk discusses how to deal with input saturation, with communication delays and with the lack of velocity measurements. The talk shows a novel controller for robots manipulators and its extension for robots that exhibit nonholonomic restrictions. The controllers described in the talk are simple to implement PD-like schemes. When nonholonomic restrictions appear, in order to satisfy Brocket’s stabilization condition, the smooth controllers incorporate a persistency of excitation term.

Short bio of the speaker:

Emmanuel Nuño was born in Guadalajara, Mexico, in 1980. He received the B.Sc. degree in communications and electronics engineering from the University of Guadalajara, Guadalajara, in 2002, and the Ph.D. degree in advanced automation and robotics from the Technical University of Catalonia, Barcelona, Spain, in 2008. He has held several research internships in different Mexican and international research institutions. Since 2009, he has been a Titular Professor with the Department of Computer Science, University of Guadalajara. He currently holds the Level 2 in the Mexican National System of Researchers (SNI) and he is an Editor of the International Journal of Adaptive Control and Signal Processing. He has published more than 50 research papers in indexed journals. He is a scientific advisor at Inbiodroid, a Mexican company that is building a novel “Avatar Robot”. His research interests include the control of robots, of bilateral teleoperators and of networks of robots.