Experimental verification of a multi-robot distributed control algorithm with containment and group dispersion behaviors: The case of dynamic leaders

2014 ◽  
Vol 1 (1) ◽  
pp. 54-60 ◽  
Keyword(s):  
Distributed Control ◽  
Experimental Verification ◽  
Control Algorithm ◽  
Distributed Control Algorithm ◽  
Multi Robot

Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Robotica ◽  
2021 ◽  
pp. 1-12
Author(s):  
Jinwei Yu ◽  
Jinchen Ji ◽  
Zhonghua Miao ◽  
Jin Zhou
Keyword(s):  
Collision Avoidance ◽  
Distributed Control ◽  
Control Algorithm ◽  
Control Method ◽  
Negative Effects ◽  
Control Gain ◽  
Robot Systems ◽  
Distributed Control Algorithm ◽  
Velocity Matching ◽  
Multi Robot

SUMMARY This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.

scholarly journals A distributed control algorithm for internal flow management in a multi-zone climate unit

2008 ◽  
Vol 81 (1) ◽  
pp. 89-106 ◽  
Author(s):  
C. De Persis ◽  
J. J. Jessen ◽  
R. Izadi-Zamanabadi ◽  
H. Schiøler
Keyword(s):  
Distributed Control ◽  
Control Algorithm ◽  
Internal Flow ◽  
Flow Management ◽  
Distributed Control Algorithm

scholarly journals Distributed robust H∞ composite-rotating consensus of second-order multi-agent systems

2017 ◽  
Vol 13 (7) ◽  
pp. 155014771772251 ◽  
Author(s):  
Weizheng Huang ◽  
Wenfeng Zheng ◽  
Lipo Mo
Keyword(s):  
Distributed Control ◽  
Control Algorithm ◽  
State Feedback ◽  
Sufficient Conditions ◽  
Second Order ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Distributed Control Algorithm ◽  
Theoretical Results

In this article, the distributed [Formula: see text] composite-rotating consensus problem is concerned for a class of second-order multi-agent systems. First, based on local state feedback and communication feedback, a distributed control algorithm is proposed. Then, sufficient conditions are derived in order to make all agents reach a composite-rotating consensus with the desired [Formula: see text] performance. Finally, the simulations are given to show the effectiveness of the theoretical results.

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