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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >An Affordable Set of Control System Laboratories Using A Low-Cost Robotic Platform
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An Affordable Set of Control System Laboratories Using A Low-Cost Robotic Platform

机译：使用低成本机器人平台的一套经济实惠的控制系统实验室

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摘要

The development of an inexpensive robotic platform is presented. Our aim is to provide a complete low-cost hardware tool to illustrate control system methods. The capabilities of this platform allow both, researchers and students, to implement from basic techniques to complex ones (e.g., from model-based control techniques to multiagent dynamical systems). The hardware that has been designed and developed performs experiments for single or multiple robot control employing capabilities, such as locomotion, communication, perception, and autonomous decision making. We illustrate different control and system dynamics techniques using this platform. After presenting the model and navigation strategies, single-agent techniques that ensure safe and predictable navigation are shown (PID and fuzzy logic controllers). Then, two multiagent techniques are described in order to prove the versatility of the platform. The first strategy illustrates common problems that arise in nature and power systems (phase synchronization models based on pulse-coupled biological oscillators and the Kuramoto oscillator). Second, a game theoretical approach for multirobot consensus is shown. In all these cases, experimental results show the performance of the platform.
机译：介绍了廉价机器人平台的开发。我们的目标是提供一个完整的低成本硬件工具来说明控制系统方法。该平台的功能使研究人员和学生都可以实施从基本技术到复杂技术（例如，从基于模型的控制技术到多智能体动力学系统）。经过设计和开发的硬件可以利用运动，通信，感知和自主决策等功能对单个或多个机器人控制进行实验。我们说明了使用此平台的不同控制和系统动力学技术。在介绍了模型和导航策略之后，展示了确保安全和可预测的导航的单主体技术（PID和模糊逻辑控制器）。然后，描述了两种多主体技术，以证明平台的多功能性。第一种策略说明了自然和电力系统中出现的常见问题（基于脉冲耦合生物振荡器和Kuramoto振荡器的相位同步模型）。其次，展示了一种用于多机器人共识的博弈论方法。在所有这些情况下，实验结果表明了该平台的性能。

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