scholarly journals Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems

2012 ◽  
Vol 2012 ◽  
pp. 1-12 ◽  
Author(s):  
Long Sheng ◽  
Ya-Jun Pan ◽  
Xiang Gong
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Experimental Studies ◽  
Sufficient Conditions ◽  
Delay Systems ◽  
Linear Matrix ◽  
Consensus Formation ◽  
Control Gain ◽  
Robot Systems ◽  
Distributed Control Algorithm

A consensus-based formation control for a class of networked multiple mobile robots is investigated with a virtual leader approach. A novel distributed control algorithm is designed based on the Lyapunov method and linear matrix inequality (LMI) technique for time delay systems. A multiple Lyapunov Krasovskii functional candidate is proposed for investigating the sufficient conditions to linear control gain design for the system with constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.

Noise-tolerance consensus formation control for multi-robotic networks

2020 ◽  
Vol 42 (8) ◽  
pp. 1569-1581 ◽  
Author(s):  
Chuangchuang Wang ◽  
Ping He ◽  
Heng Li ◽  
Jinyu Tian ◽  
Kuiyang Wang ◽  
...  
Keyword(s):  
Formation Control ◽  
Lagrange Equation ◽  
Sufficient Conditions ◽  
Communication Delay ◽  
Linear Matrix ◽  
Mean Square ◽  
Noise Tolerance ◽  
Consensus Formation ◽  
Robotic Networks ◽  
Mean Square Consensus

This paper investigates the formation control for noise-tolerance consensus of multi-robotic networks and the mean square consensus condition. Firstly, the multi-robot model is expressed by applying a coordinate transformation based on the Euler-Lagrange equation. Compared with recent works, the control scheme presented in this work can indirectly obtain the evolution trend of position and velocity information of the robot. Besides, the noise and communication delay are involved in the formation control protocol. Secondly, the sufficient conditions of mean square consensus for formation control in multi-robotic networks with communication delay under noisy environments are obtained by using linear matrix inequality schemes. Finally, the numerical simulations are presented and submitted to demonstrate the correctness of the obtained results.

Vibration control of network-based offshore structures subject to earthquakes

2021 ◽  
pp. 014233122110259
Author(s):  
Hua-Nv Feng ◽  
Bao-Lin Zhang ◽  
Yan-Dong Zhao ◽  
Hui Ma ◽  
Hao Su ◽  
...  
Keyword(s):  
Sufficient Conditions ◽  
Offshore Structures ◽  
Delay Systems ◽  
Linear Matrix ◽  
Seismic Responses ◽  
Marine Structures ◽  
Damping Control ◽  
Marine Structure ◽  
Uncertain Model ◽  
Control Scheme

Marine structures are inevitably influenced by parametric perturbations as well as multiple external loadings. Among these loadings, earthquake is generally more destructive and unpredictable than others. It is significant to develop effective active control schemes to guarantee the safety, stability, and integrity of marine structures subject to earthquakes and parametric perturbations. In this paper, the problem of networked [Formula: see text] robust damping control is addressed to stabilize a marine structure subject to earthquakes. First, in consideration of perturbations of the structure parameters, an uncertain model of the networked marine structure under earthquakes is presented. Second, a robust networked [Formula: see text] control scheme is presented to suppress seismic responses of the structure. By using stability theory of time-delay systems, several sufficient conditions on robust stability of the networked marine structure system are obtained, and the linear matrix inequality methods are utilized to solve the gain matrix of the controller. Finally, simulation indicates that compared with the traditional robust [Formula: see text] control and the proposed networked [Formula: see text] control, the seismic responses amplitudes of the marine structure under the two controllers are almost the same, while the latter is more economic than the former.

scholarly journals Dissipativity-Based Controller Design for Time-Delayed T-S Fuzzy Switched Distributed Parameter Systems

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Xiaona Song ◽  
Mi Wang ◽  
Shuai Song ◽  
Jingtao Man
Keyword(s):  
Fuzzy Controller ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Fuzzy Model ◽  
Distributed Parameter Systems ◽  
Linear Matrix ◽  
Distributed Parameter ◽  
Time Varying Delay ◽  
Closed Loop Systems ◽  
Control Gain

This paper studies fuzzy controller design problem for a class of nonlinear switched distributed parameter systems (DPSs) subject to time-varying delay. Initially, the original nonlinear DPSs are accurately described by Takagi-Sugeno fuzzy model in a local region. On the basis of parallel distributed compensation technique, mode-dependent fuzzy proportional and fuzzy proportional-spatial-derivative controllers are constructed, respectively. Subsequently, using single Lyapunov-Krasovskii functional and some matrix inequality methods, sufficient conditions that guarantee the stability and dissipativity of the closed-loop systems are presented in the form of linear matrix inequalities, which allow the control gain matrices to be easily obtained. Finally, numerical examples are provided to demonstrate the validity of the designed controllers.

Sliding Mode H∞-Control with Stochastic Time Delay Systems

2013 ◽  
Vol 321-324 ◽  
pp. 1712-1718
Author(s):  
Ravi Kumar ◽  
Kil To Chong
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Estimation Error ◽  
Sufficient Conditions ◽  
Feedback Stabilization ◽  
Delay Systems ◽  
Linear Matrix ◽  
Linear Filter ◽  
Time Delay Systems ◽  
Stochastic Time

In this paper, we concerned the problem of sliding mode of-control with stochastic stabilization of uncertainty. Some sufficient conditions are derived for this class of robust feedback stabilization of time delay systems. The stochastic time delay systems may switch from one to one corresponds of linear filter, such that the dynamics of estimation error is guaranteed to be stochastically stable in mean square. Moreover, it is shown that for a class of special linear stochastic neutral systems, the H-sliding mode control design can be obtained by solving linear matrix inequalities (LMIs).

scholarly journals Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Hongtao Dang ◽  
Le Wang ◽  
Yan Zhang ◽  
Jianye Yang
Keyword(s):  
Formation Control ◽  
Sufficient Conditions ◽  
Inequality Constraints ◽  
High Order ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Order Linear ◽  
Limited Budget ◽  
Communication Topology ◽  
Formation Design

This paper discusses limited-budget time-varying formation design and analysis problems for a high-order linear swarm system with a fixed communication topology. Firstly, the communication topology among agents is modeled as an undirected and connected graph, and a new formation control protocol with an energy integral term is proposed to realize formation control and to guarantee the practical energy assumption is less than the limited energy budget. Then, by the matrix inequality tool, sufficient conditions for limited-budget formation design and analysis are proposed, respectively, which are scalable and checkable since they are independent of the number of agents of a swarm system and can be transformed into linear matrix inequality constraints. Moreover, an explicit expression of the formation center function is given, which contains the formation function part and the cooperative state part and is not associated with the derivatives of the formation functions. Finally, a numerical simulation is shown to demonstrate the effectiveness of theoretical results.

scholarly journals Biologically-Inspired Learning and Adaptation of Self-Evolving Control for Networked Mobile Robots

2019 ◽  
Vol 9 (5) ◽  
pp. 1034 ◽  
Author(s):  
Sendren Sheng-Dong Xu ◽  
Hsu-Chih Huang ◽  
Tai-Chun Chiu ◽  
Shao-Kang Lin
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Kinematic Model ◽  
Control Law ◽  
Biologically Inspired ◽  
Modified Genetic Algorithm ◽  
Robot Systems ◽  
Learning And Adaptation ◽  
Self Learning ◽  
Adaptation Method

This paper presents a biologically-inspired learning and adaptation method for self-evolving control of networked mobile robots. A Kalman filter (KF) algorithm is employed to develop a self-learning RBFNN (Radial Basis Function Neural Network), called the KF-RBFNN. The structure of the KF-RBFNN is optimally initialized by means of a modified genetic algorithm (GA) in which a Lévy flight strategy is applied. By using the derived mathematical kinematic model of the mobile robots, the proposed GA-KF-RBFNN is utilized to design a self-evolving motion control law. The control parameters of the mobile robots are self-learned and adapted via the proposed GA-KF-RBFNN. This approach is extended to address the formation control problem of networked mobile robots by using a broadcast leader-follower control strategy. The proposed pragmatic approach circumvents the communication delay problem found in traditional networked mobile robot systems where consensus graph theory and directed topology are applied. The simulation results and numerical analysis are provided to demonstrate the merits and effectiveness of the developed GA-KF-RBFNN to achieve self-evolving formation control of networked mobile robots.

Multi-Agent Consensus with a Time-Varying Reference State and Time-Varying Delays

2011 ◽  
Vol 48-49 ◽  
pp. 724-729
Author(s):  
Hui Yu ◽  
Yi Zhang ◽  
Gao Yang Liu
Keyword(s):  
Time Delay ◽  
Sufficient Conditions ◽  
Reference State ◽  
Switching Topology ◽  
Linear Matrix ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Consensus Formation ◽  
Arbitrary Switching ◽  
Multi Agent

This paper is devoted to the study of consensus problem of multi-agent systems with a time-varying reference state in directed networks with both switching topology and time-delay. Stability analysis is performed based on a proposed Lyapunov–Krasovskii function. Sufficient conditions based on linear matrix inequalities (LMIs) are given to guarantee that multi-agent consensus on a time-varying reference state can be achieved under arbitrary switching of the network topology even if the network communication is affected by time-delay. These consensus algorithms are also extended to consensus formation among the agents. Finally, simulation example is given to validate our theoretical results.

Dissipative Control for Nonlinear Neutral Delay Systems

2011 ◽  
Vol 48-49 ◽  
pp. 439-442
Author(s):  
Long Liu ◽  
Ming Li
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Sufficient Conditions ◽  
Delay Systems ◽  
Linear Matrix ◽  
Neutral Delay ◽  
Static State ◽  
Neutral Delay Systems ◽  
Dissipative Control ◽  
Static State Feedback

The problem of delay-dependent dissipative control for nonlinear neutral delay systems is dealt with. We develop the design method of dissipative static state feedback controller such that the closed-loop system is absolutely stable and strictly-dissipative. Sufficient conditions for the existence of the quadratic dissipative controller are obtained by using linear Matrix Inequality(LMI) approach. Furthermore, a procedure of constructing such a controller from the solution of LMI is given. It is shown that the solvability of a dissipative controller design is implied by the feasibility of LMIs.

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