Distributed cooperative deployment of heterogeneous autonomous agents: a Pareto suboptimal approach

Robotica ◽  
2018 ◽  
Vol 36 (12) ◽  
pp. 1943-1962 ◽  
Author(s):  
Giovanni Franzini ◽  
Mario Innocenti
Keyword(s):  
Numerical Simulations ◽  
Differential Game ◽  
Cooperative Control ◽  
Autonomous Agents ◽  
Heterogeneous Agents ◽  
Control Law ◽  
Operational Space ◽  
Suboptimal Solution ◽  
Distributed Cooperative Control ◽  
Cooperative Differential Game

SUMMARYThe paper presents a distributed cooperative control law for autonomous deployment of a team of heterogeneous agents. Deployment problems deal with the coordination of groups of agents in order to cover one or more assigned areas of the operational space. In particular, we consider a team composed by agents with different dynamics, sensing capabilities, and resources available for the deployment. Sensing heterogeneity is addressed by means of the descriptor function framework, an abstraction that provides a set of mathematical tools for describing both agent sensing capabilities and the desired deployment. A distributed cooperative control law is then formally derived finding a suboptimal solution of a cooperative differential game, where the agents are interested in achieving the requested deployment, while optimizing the resources usage according to their dynamics. The control law effectiveness is proven by theoretical arguments, and supported by numerical simulations.

Experimental and Analytical Nonzero-Sum Differential Game-Based Control of a 7-DOF Robotic Manipulator

2020 ◽  
Author(s):  
Mostafa Bagheri ◽  
Alexander Bertino ◽  
Peiman Naseradinmousavi
Keyword(s):  
Differential Game ◽  
Closed Loop ◽  
Robot Manipulator ◽  
Control Law ◽  
Feedback Nash Equilibrium ◽  
Optimal Control Strategy ◽  
Lagrange System ◽  
Lagrangian Dynamic ◽  
Cooperative Differential Game

Abstract We formulate a Nash-based feedback control law for an Euler-Lagrange system to yield a solution to non-cooperative differential game. The robot manipulators are broadly utilized in industrial units on the account of their reliable, fast, and precise motions, while consuming a significant lumped amount of energy. Therefore, an optimal control strategy needs to be implemented in addressing efficiency issues, while delivering accuracy obligation. As a case study, we here focus on a 7-DOF robot manipulator through formulating a two-player feedback nonzero-sum differential game. First, coupled Euler-Lagrangian dynamic equations of the manipulator are briefly presented. Then, we formulate the feedback Nash equilibrium solution in order to achieve perfect trajectory tracking. Finally, the performance of the Nash-based feedback controller is analytically and experimentally examined. Simulation and experimental results reveal that the control law yields almost perfect tracking and achieves closed-loop stability.

scholarly journals Secondary Control of Microgrids via Neural Inverse Optimal Distributed Cooperative Control

2020 ◽  
Vol 53 (2) ◽  
pp. 7891-7896
Author(s):  
Carlos J. Vega ◽  
Larbi Djilali ◽  
Edgar N. Sanchez
Keyword(s):  
Cooperative Control ◽  
Secondary Control ◽  
Distributed Cooperative Control

Impedance Control of Dual-Arm Systems Based on the Object with Senseless Force

2013 ◽  
Vol 765-767 ◽  
pp. 1920-1923
Author(s):  
Li Jiang ◽  
Yang Zhou ◽  
Bin Wang ◽  
Chao Yu
Keyword(s):  
Numerical Simulations ◽  
Relative Position ◽  
Position Control ◽  
Impedance Control ◽  
Force Sensors ◽  
Operational Space ◽  
Novel Approach ◽  
Control Scheme ◽  
Statics And Dynamics ◽  
Dual Arm

A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors.

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