Artificial potential function based spacecraft proximity maneuver 6-DOF control under multiple pyramid-type constraints

2021 ◽  
Author(s):  
Liangyue Wang ◽  
Yanning Guo ◽  
Guangfu Ma ◽  
Haibo Zhang
Keyword(s):  
Potential Function ◽  
Artificial Potential Function

Control of Multiple Mobile Agents Via Artificial Potential Functions and Random Motion

2007 ◽  
Author(s):  
Manish Kumar ◽  
Devendra P. Garg ◽  
Randy Zachery
Keyword(s):  
Potential Function ◽  
Mobile Agents ◽  
Formation Control ◽  
Cluster Formation ◽  
Limited Range ◽  
Random Motion ◽  
Potential Functions ◽  
Random Behavior ◽  
Artificial Potential Function ◽  
Multiple Mobile Agents

This paper investigates the effectiveness of designed random behavior in cooperative formation control of multiple mobile agents. A method based on artificial potential functions provides a framework for decentralized control of their formation. However, it implies heavy communication costs. The communication requirement can be replaced by onboard sensors. The onboard sensors have limited range and provide only local information, and may result in the formation of isolated clusters. This paper proposes to introduce a component representing random motion in the artificial potential function formulation of the formation control problem. The introduction of the random behavior component results in a better chance of global cluster formation. The paper uses an agent model that includes both position and orientation, and formulates the dynamic equations to incorporate that model in artificial potential function approach. The effectiveness of the proposed method is verified via extensive simulations performed on a group of mobile agents and leaders.

Generalized Potential Function-Based Cooperative Current-Sharing Control for High-Power Parallel Charging Systems

2017 ◽  
Vol 21 (3) ◽  
pp. 387-396
Author(s):  
Hongtao Liao ◽  
◽  
Jun Peng ◽  
Yanhui Zhou ◽  
Zhiwu Huang ◽  
...  
Keyword(s):  
Potential Function ◽  
Cooperative Control ◽  
Control Method ◽  
Light Rail ◽  
Current Sharing ◽  
Vehicle Systems ◽  
Gradient Based ◽  
Current Sharing Control ◽  
Artificial Potential Function ◽  
The Stability

In this paper, a new decentralized gradient-based cooperative control method is proposed to achieve current sharing for parallel chargers in energy storage-type light rail vehicle systems. By employing a generalized artificial potential function to characterize the interaction rule for subchargers, the current-sharing control problem is converted into an optimization problem. Based on the gradient of the potential function, a decentralized gradient cooperative control law is derived. A general saturation function is introduced in the proposed control to guarantee the boundedness of the control output. The stability of the closed-loop system under the proposed decentralized gradient control is proven with the aid of a Lyapunov function. Simulation results are provided to verify the feasibility and validity of the proposed distributed current-sharing control method.

Implementation of swarm aggregation in quadrotor swarms using an artificial potential function model

2016 ◽  
Author(s):  
Gerard Ely Faelden ◽  
Jose Martin Maningo ◽  
Reiichiro Christian Nakano ◽  
Argel Bandala ◽  
Ryan Rhay Vicerra ◽  
...  
Keyword(s):  
Potential Function ◽  
Function Model ◽  
Artificial Potential Function

scholarly journals Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target

2019 ◽  
Vol 2019 ◽  
pp. 1-17
Author(s):  
Jianghui Liu ◽  
Haiyang Li
Keyword(s):  
Potential Function ◽  
Obstacle Avoidance ◽  
Motion Equation ◽  
Reference State ◽  
Attractive Potential ◽  
Total Potential ◽  
Autonomous Rendezvous ◽  
Artificial Potential Function ◽  
Rendezvous And Docking ◽  
Target Spacecraft

The problem of artificial potential function (APF) safety and obstacle avoidance guidance for autonomous rendezvous and docking of chaser spacecraft with noncooperative spacecraft is studied. The relative motion equation of the chaser and the target is established based on the line-of-sight coordinate system, the reference state is designed, and the corresponding state error is deduced. The attitude motion equation of the noncooperative target spacecraft in space is established. The safety and obstacle avoidance guidance problem of autonomous rendezvous and docking with noncooperative target is transformed into a path planning problem in a dynamic environment. The attractive potential function is designed according to the state error. In order to ensure that the chaser can safely approach the noncooperative target spacecraft, a safe corridor with ellipse cissoid is designed in the final approaching stage of autonomous rendezvous and docking. The obstacle is assumed to be a sphere with a certain radius to avoid its influence in the approach, and the obstacle potential function is designed based on the Gaussian function method. The total potential function of the system is designed according to the attractive potential function, the safe potential function, and the obstacle potential function. The total potential function of the system is modified to ensure that the reference state is the minimum of the total potential function of the system. The stability of the system is proven according to the Lyapunov stability principle, and the conditions for satisfying the monotonic decrease in the total potential function of the system are deduced. Finally, the effectiveness of the proposed method is verified by three sets of numerical simulations.

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