Experimental validation of a decentralized control law for multi-vehicle collective motion

2007 ◽  
Author(s):  
Daniele Benedettelli ◽  
Nicola Ceccarelli ◽  
Andrea Garulli ◽  
Antonio Giannitrapani
Keyword(s):  
Decentralized Control ◽  
Experimental Validation ◽  
Collective Motion ◽  
Control Law

Decentralized Exergy/Entropy Thermodynamic Control for Collective Robotic Systems

2007 ◽  
Author(s):  
Rush D. Robinett ◽  
David G. Wilson
Keyword(s):  
Decentralized Control ◽  
Direct Method ◽  
Robotic Systems ◽  
Control Law ◽  
Thermodynamic Control ◽  
Order Accuracy ◽  
Control Laws ◽  
Vector Lyapunov Function ◽  
Collective Control ◽  
Plume Tracing

This paper develops a distributed decentralized control law for collective robotic systems. The control laws are developed based on exergy/entropy thermodynamic concepts and information theory. The source field is characterized through second-order accuracy. The proposed feedback control law stability for both the collective and individual robots are demonstrated by selecting a general Hamiltonian based solution developed as Fisher Information Equivalency as the vector Lyapunov function. Stability boundaries and system performance are then determined with Lyapunov’s direct method. A robot collective plume tracing numerical simulation example demonstrates this decentralized exergy/entropy collective control architecture.

Decentralized control for mobile robotic sensor network self-deployment: barrier and sweep coverage problems

Robotica ◽  
2010 ◽  
Vol 29 (2) ◽  
pp. 283-294 ◽  
Author(s):  
Teddy M. Cheng ◽  
Andrey V. Savkin
Keyword(s):  
Sensor Network ◽  
Decentralized Control ◽  
Nearest Neighbor ◽  
Barrier Coverage ◽  
Control Law ◽  
Motion Coordination ◽  
Robotic Sensor ◽  
Information Consensus ◽  
Coverage Problems ◽  
Robotic Sensors

SUMMARYThis paper addresses the problems of barrier coverage and sweep coverage in a corridor environment with a network of self-deployed mobile autonomous robotic sensors. Using the ideas of nearest neighbor rules and information consensus, we propose a decentralized control law for the robotic sensors to solve the coverage problems. Numerical simulations illustrate the effectiveness of the proposed algorithm. The results in this paper demonstrate that such simple motion coordination rules can play a significant role in addressing the issue of coverage in a mobile robotic sensor network.

scholarly journals Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

2011 ◽  
Vol 2011 ◽  
pp. 1-10 ◽  
Author(s):  
Yassine Bouteraa ◽  
Jawhar Ghommam ◽  
Gérard Poisson ◽  
Nabil Derbel
Keyword(s):  
Decentralized Control ◽  
Information Exchange ◽  
Robot Manipulators ◽  
Direct Method ◽  
Functional Method ◽  
Consensus Algorithm ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
Control Law ◽  
Parameter Uncertainties

This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

A Control Methodology for Autonomous Multi-Agent System in Collective and Uniform Distribution and Reorientation

2013 ◽  
Vol 392 ◽  
pp. 366-373
Author(s):  
Tao Yang ◽  
Yong Jun Jia ◽  
Li Bo Yang
Keyword(s):  
Uniform Distribution ◽  
Decentralized Control ◽  
Autonomous Agents ◽  
Asymptotical Stability ◽  
Control Law ◽  
Multi Agent System ◽  
Agent System ◽  
Contribution Analysis ◽  
Multi Agent ◽  
Control Methodology

This paper proposes a decentralized control law of NlCyP&BG for a team of autonomous agents, which aims at achieving collective and uniform distribution around an appointed destination. A technique by virtual of coordinate constraints is described for eigenvalues derivation and contribution analysis, so that conditions for local asymptotical stability of n-agent system is deduced. Simulation work on a two-agent case and an extended four-agent case are displayed to prove the validity of stability conclusion, and at the same time the effectiveness of control law in accomplishing expected distribution and reorientation is verified exactly.

scholarly journals New relaxed stability and stabilization conditions for both discrete and differential linear repetitive processes

2021 ◽  
Author(s):  
Marcin Boski ◽  
Robert Maniarski ◽  
Wojciech Paszke ◽  
Eric Rogers
Keyword(s):  
Iterative Learning Control ◽  
Experimental Validation ◽  
Linear Matrix ◽  
Control Law ◽  
2D Systems ◽  
Matrix Inequalities ◽  
Repetitive Processes ◽  
Numerical Examples ◽  
Linear Repetitive Processes ◽  
Stability And Stabilization

AbstractThe paper develops new results on stability analysis and stabilization of linear repetitive processes. Repetitive processes are a distinct subclass of two-dimensional (2D) systems, whose origins are in the modeling for control of mining and metal rolling operations. The reported systems theory for them has been applied in other areas such iterative learning control, where, uniquely among 2D systems based designs, experimental validation results have been reported. This paper uses a version of the Kalman–Yakubovich–Popov Lemma to develop new less conservative conditions for stability in terms of linear matrix inequalities, with an extension to control law design. Differential and discrete dynamics are analysed in an unified manner, and supporting numerical examples are given.

Stability of the Consensus of a Group of Second Order Agents With Time Delayed Communications

2010 ◽  
Author(s):  
Rudy Cepeda-Gomez ◽  
Nejat Olgac
Keyword(s):  
Decentralized Control ◽  
Time Delays ◽  
Control Structure ◽  
Second Order ◽  
Control Law ◽  
Consensus Problem ◽  
Control Parameters ◽  
The Stability ◽  
Feedback Time ◽  
Delay Space

This study addresses the consensus problem and its stability for a group of agents with second order dynamics and feedback time delays. It is assumed that all the agents in the group communicate with the same number of agents, and that the time delay incurred remains constant and the same for all the interagent communication channels. A decentralized control structure of PD type is proposed to create consensus in the position and velocity of the agents. Contribution of the paper is in the peculiar construction of the system characteristic equation owing to the proposed control law, which is exploited to effectively execute the stability analysis in the delay space. A complete stability picture is obtained taking into account the variations in both the control parameters and the communication delay. Case studies and simulations results are presented to verify the analytical derivations.

Trajectory Control Using Linear Control System on Mobile Robot

2011 ◽  
Vol 383-390 ◽  
pp. 1619-1622
Author(s):  
Kuei Ying Chang ◽  
Huai Jen Hsu ◽  
Pendry Alexandra ◽  
Min Fan Ricky Lee
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Experimental Validation ◽  
Kinematic Model ◽  
Initial Position ◽  
Wheeled Mobile Robot ◽  
Linear Control ◽  
Control Law ◽  
Simulation Results ◽  
Robot Platform

A lot of studies have been conducted and published on how to control the wheeled mobile robot to reach the desired target smoothly and many simulation results have been presented. However, very few of the control theorems have been applied on a real mobile robot platform to test the feasibility. This paper focuses on the experimental validation by applying the kinematic model and the control law suggested by Siegwart et al [6] on a nonholonomic wheeled mobile robot. The omni-directional camera mounted on ceiling is used to capture the initial position of robot and monitor the trajectory. Our experiment results proved with the proposed control law, the mobile robot can reach the final goal and stop.

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