Outer synchronization and formation of two complex heterogeneous robotic networks with an intermediary dynamic system

This work addresses the study related to the analysis of two terrestrial and aerial robotic networks. The network of terrestrial robots consists of mobile robots of the differential traction type, while the network of aerial robots is made up of robots of the quadcopter type. The inner coupling of the two complex robotic networks is in a directed star type topology, on the other hand, the outer coupling between the two networks is carried out through an intermediary dynamic system that couples the two master nodes of each of the complex robotic networks. To achieve the tracking of desired trajectories in each of the robotic networks innerlly, two control techniques are used, in the case of the terrestrial robotic network a dynamic feedback linearization is used, while in the case of the aerial robotic network a backstepping control is used. To corroborate the proposed network coupling approach, numerical simulations of nine robots in each of the networks programmed in the Matlab software using the Simulink environment are presented, where the results can be extended to M networks with N nodes.