scholarly journals SDP-Based Robust Formation-Containment Coordination of Swarm Robotic Systems with Input Saturation

2021 ◽  
Vol 102 (1) ◽  
Author(s):  
Kefan Wu ◽  
Junyan Hu ◽  
Barry Lennox ◽  
Farshad Arvin
Keyword(s):  
Formation Control ◽  
Controller Design ◽  
Input Saturation ◽  
Reference Signal ◽  
Robotic Systems ◽  
Time Data ◽  
Containment Control ◽  
Potential Applications ◽  
Hardware Platforms ◽  
Double Integrator

AbstractThere are many potential applications of swarm robotic systems in real-world scenarios. In this paper, formation-containment controller design for single-integrator and double-integrator swarm robotic systems with input saturation is investigated. The swarm system contains two types of robots—leaders and followers. A novel control protocol and an implementation algorithm are proposed that enable the leaders to achieve the desired formation via semidefinite programming (SDP) techniques. The followers then converge into the convex hull formed by the leaders simultaneously. In contrast to conventional consensus-based formation control methods, the relative formation reference signal is not required in the real-time data transmission, which provides greater feasibility for implementation on hardware platforms. The effectiveness of the proposed formation-containment control algorithm is demonstrated with both numerical simulations and experiments using real robots that utilize the miniature mobile robot, Mona.

Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces

2020 ◽  
Author(s):  
Violet Mwaffo ◽  
Pietro De Lellis ◽  
Sean Humbert
Keyword(s):  
Formation Control ◽  
Deterministic Model ◽  
Sufficient Conditions ◽  
Robotic Systems ◽  
Control Input ◽  
Stochastic Disturbances ◽  
Driving Speed ◽  
Control Schemes ◽  
Mean Square Convergence ◽  
Double Integrator

Abstract In this work, we analyze the decentralized formation control problem for a class of multi-robotic systems evolving on slippery surfaces. Grounded on experimental data of robots moving on a gravel surface inducing slippery, we show that a deterministic model cannot capture the uncertainties resulting from the kinematics of the robots while, instead, a model incorporating stochastic noise is capable of emulating such perturbations on wheel driving speed and turn rate. To account for these uncertainties, we consider a second order non-holonomic unicycle model to capture the full dynamics of individual vehicles where both actuation force and torque are subject to stochastic disturbances. Upon reducing the input-output dynamics of individual robot to a stochastic double integrator, we investigate the effects of these perturbations on the control input using concepts from stochastic stability theory and through numerical simulations. We demonstrated the applicability of the proposed scheme for formation control notably by providing sufficient conditions for exponential mean square convergence and we numerically determined the range of noise intensities for which team of robots can achieve formation stabilization. The promising findings from this work are expected to aid the design of robust control schemes for formation control of non-holonomic robots on off-road or un-paved surfaces.

scholarly journals Distributed trajectory tracking and formation control without velocity measurements by the notion of prior bounded local neighborhood synchronization error

2020 ◽  
Vol 53 (3-4) ◽  
pp. 577-588 ◽  
Author(s):  
Boxian Lin ◽  
Te Zhang ◽  
Bo Zhu ◽  
Kaiyu Qin
Keyword(s):  
Formation Control ◽  
Controller Design ◽  
Input Saturation ◽  
Parameter Tuning ◽  
Synchronization Error ◽  
Velocity Measurements ◽  
Tracking Errors ◽  
Synchronization Errors ◽  
Parameter Mapping ◽  
Local Neighborhood

This paper investigates the robust consensus tracking and formation control problems of multiple second-order systems having exogenous disturbances and no velocity measurements. To account for the input saturation constraint in controller design, a novel notion of local neighborhood synchronization error is proposed, which is obtained using generalized saturation functions and can be regarded as a nonlinear variation of the well-known linear local neighborhood synchronization error. An important property of the notion is proved and then a continuous distributed controller is designed using it. To improve the robustness of the controller with respect to exogenous disturbance, a disturbance estimator–based design and a simple parameter mapping for parameter tuning are proposed. The resulting error system is proven to be small-signal [Formula: see text] stable and input-to-output stable. In particular, the synchronization errors and tracking errors converge asymptotically to zero if the disturbances converge to some constants. By the parameter mapping, the steady-state synchronization errors and tracking errors can be made arbitrarily small. The control scheme is finally modified to adapt to formation control applications by adding the desired position deviation from the leader’s trajectory. The performance of the scheme is demonstrated by the simulation results.

Regional stabilization and H∞ congestion control with input saturation

2021 ◽  
pp. 014233122199273
Author(s):  
Sadek Belamfedel Alaoui ◽  
El Houssaine Tissir ◽  
Noreddine Chaibi ◽  
Fatima El Haoussi
Keyword(s):  
Linear Systems ◽  
Controller Design ◽  
Input Saturation ◽  
Domain Of Attraction ◽  
Queue Management ◽  
Variable Delay ◽  
Challenging Problem ◽  
Regional Stabilization ◽  
Small Gain ◽  
Improved Performance

Designing robust active queue management subjected to network imperfections is a challenging problem. Motivated by this topic, we addressed the problem of controller design for linear systems with variable delay and unsymmetrical constraints by the scaled small gain theorem. We designed two mechanisms: robust enhanced proportional derivative; and robust enhanced proportional derivative subjected to input saturation. Discussion of their practical implementations along with extensive comparisons by MATLAB and NS3 illustrate the improved performance and the enlargement of the domain of attraction regarding some literature results.

New Observer-Based Controller Design for Delayed Systems Subject to Input Saturation and Disturbances

2019 ◽  
Vol 44 (3) ◽  
pp. 1081-1092 ◽  
Author(s):  
Nabil El Fezazi ◽  
Ouarda Lamrabet ◽  
Fatima El Haoussi ◽  
El Houssaine Tissir
Keyword(s):  
Controller Design ◽  
Input Saturation ◽  
Delayed Systems

IIOT and Real Time Data Analytics - Maximizing the Impact on Safety and Productivity

2021 ◽  
Author(s):  
Ryan Daher ◽  
Nesma Aldash
Keyword(s):  
Real Time ◽  
Case Studies ◽  
Data Analytics ◽  
Contact Tracing ◽  
Time Data ◽  
Seamless Integration ◽  
Location Services ◽  
Industrial Internet ◽  
Potential Applications ◽  
The Impact

Abstract With the global push towards Industry 4.0, a number of leading companies and organizations have invested heavily in Industrial Internet of Things (IIOT's) and acquired a massive amount of data. But data without proper analysis that converts it into actionable insights is just more information. With the advancement of Data analytics, machine learning, artificial intelligence, numerous methods can be used to better extract value out of the amassed data from various IIOTs and leverage the analysis to better make decisions impacting efficiency, productivity, optimization and safety. This paper focuses on two case studies- one from upstream and one from downstream using RTLS (Real Time Location Services). Two types of challenges were present: the first one being the identification of the location of all personnel on site in case of emergency and ensuring that all have mustered in a timely fashion hence reducing the time to muster and lessening the risks of Leaving someone behind. The second challenge being the identification of personnel and various contractors, the time they entered in productive or nonproductive areas and time it took to complete various tasks within their crafts while on the job hence accounting for efficiency, productivity and cost reduction. In both case studies, advanced analytics were used, and data collection issues were encountered highlighting the need for further and seamless integration between data, analytics and intelligence is needed. Achievements from both cases were visible increase in productivity and efficiency along with the heightened safety awareness hence lowering the overall risk and liability of the operation. Novel/Additive Information: The results presented from both studies have highlighted other potential applications of the IIOT and its related analytics. Pertinent to COVID-19, new application of such approach was tested in contact tracing identifying workers who could have tested positive and tracing back to personnel that have been in close proximity and contact therefore reducing the spread of COVID. Other application of the IIOT and its related analytics has also been tested in crane, forklift and heavy machinery proximity alert reducing the risk of accidents.

Towards Automated Bicycles: Achieving Self-Balance Using Steering Control

2018 ◽  
Author(s):  
Wenhao Deng ◽  
Skyler Moore ◽  
Jonathan Bush ◽  
Miles Mabey ◽  
Wenlong Zhang
Keyword(s):  
Autonomous Vehicles ◽  
Controller Design ◽  
Smart Cities ◽  
Autonomous Driving ◽  
Human Robot Interaction ◽  
Steering Control ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Potential Applications ◽  
Electric Bicycle

In recent years, researchers from both academia and industry have worked on connected and automated vehicles and they have made great progress toward bringing them into reality. Compared to automated cars, bicycles are more affordable to daily commuters, as well as more environmentally friendly. When comparing the risk posed by autonomous vehicles to pedestrians and motorists, automated bicycles are much safer than autonomous cars, which also allows potential applications in smart cities, rehabilitation, and exercise. The biggest challenge in automating bicycles is the inherent problem of staying balanced. This paper presents a modified electric bicycle to allow real-time monitoring of the roll angles and motor-assisted steering. Stable and robust steering controllers for bicycle are designed and implemented to achieve self-balance at different forward speeds. Tests at different speeds have been conducted to verify the effectiveness of hardware development and controller design. The preliminary design using a control moment gyroscope (CMG) to achieve self-balancing at lower speeds are also presented in this work. This work can serve as a solid foundation for future study of human-robot interaction and autonomous driving.

scholarly journals A Survey of Formation Control for Multiple Mobile Robotic Systems

2020 ◽  
pp. 1515-1520
Author(s):  
Lintle Tsiu ◽  
Elisha Didam Markus
Keyword(s):  
Formation Control ◽  
Robotic Systems

scholarly journals DC Microgrid Utilizing Artificial Intelligence and Phasor Measurement Unit Assisted Inverter

Energies ◽  
2021 ◽  
Vol 14 (19) ◽  
pp. 6086
Author(s):  
Raziq Yaqub ◽  
Mohamed Ali ◽  
Hassan Ali
Keyword(s):  
Artificial Intelligence ◽  
Real Time ◽  
Distribution System ◽  
Reference Signal ◽  
Phasor Measurement Unit ◽  
Measurement Unit ◽  
Time Data ◽  
Dc Microgrid ◽  
Utility Company ◽  
Phasor Measurement

Community microgrids are set to change the landscape of future energy markets. The technology is being deployed in many cities around the globe. However, a wide-scale deployment faces three major issues: initial synchronization of microgrids with the utility grids, slip management during its operation, and mitigation of distortions produced by the inverter. This paper proposes a Phasor Measurement Unit (PMU) Assisted Inverter (PAI) that addresses these three issues in a single solution. The proposed PAI continually receives real-time data from a Phasor Measurement Unit installed in the distribution system of a utility company and keeps constructing a real-time reference signal for the inverter. To validate the concept, a unique intelligent DC microgrid architecture that employs the proposed Phasor Measurement Unit (PMU) Assisted Inverter (PAI) is also presented, alongside the cloud-based Artificial Intelligence (AI), which harnesses energy from community shared resources, such as batteries and the community’s rooftop solar resources. The results show that the proposed system produces quality output and is 98.5% efficient.

scholarly journals High-gain-observer based adaptive output-feedback formation control for underactuated unmanned surface vessels with input saturation and uncertainties

2020 ◽  
Vol 84 (1/2/3/4) ◽  
pp. 180
Author(s):  
Meijiao Zhao ◽  
Huayan Pu ◽  
Yueying Wang ◽  
Jun Luo ◽  
Shaorong Xie ◽  
...  
Keyword(s):  
Output Feedback ◽  
Formation Control ◽  
Input Saturation ◽  
High Gain ◽  
High Gain Observer ◽  
Surface Vessels
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