scholarly journals Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Xianyang Meng ◽  
Ping He ◽  
Xingzhong Xiong ◽  
Haoyang Mi ◽  
Zuxin Li ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Cooperative Control ◽  
Control Algorithm ◽  
Stability Theorem ◽  
Consensus Algorithm ◽  
Robotic Systems ◽  
Chain Model ◽  
Lyapunov Stability Theorem ◽  
Consensus Control ◽  
Distributed Cooperative Control

This paper focuses on consensus of the nonholonomic wheeled mobile robotic systems whose geometric center and centroid do not coincide. A consensus control algorithm for mobile robots based on the nonstandard chain systems is proposed. Firstly, coordinate transformation is used to transform the nonholonomic robotic systems into the nonstandard chain model. Then, a distributed cooperative control algorithm is designed, and the Lyapunov stability theorem and LaSalle invariance principle are used to prove that each state of the mobile robot is consensus. Finally, the effectiveness of the algorithm is proved through numerical simulation.

scholarly journals Integrated Guidance and Control of Multiple Interceptors with Impact Angle Constraints Considered

2019 ◽  
Vol 37 (2) ◽  
pp. 273-282
Author(s):  
Xiang Liu ◽  
Xiaogeng Liang
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Control Method ◽  
Impact Angle ◽  
Dynamic Surface ◽  
Guidance And Control ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Impact Angle Constraint ◽  
Distributed Cooperative Control

To solve the multi-interceptor coordination problem and to intercept the target with impact angle constraint, a novel distributed cooperative control algorithm with impact angle constraint based on integrated guidance and control is proposed. First, the mathematic model of integrated guidance and control is established by combining the interceptor-target relative motion model with the dynamic equation of the interceptor on pitch plane. The time varying gain extended state observer is developed to estimate and compensate the unknown disturbance. Based on the estimated value and fast nonsingular dynamic surface sliding control method, the IGC algorithm of leader is given; Then, based on distributed cooperative "leader-follower" model, the cooperative control strategy of multi-interceptor is designed, and gives out speeds in two directions on pitch plane, which are transformed to the command of total velocity and trajectory angle based on kinematic relations. Finally, to control the follower, the time varying gain extended state observer and the dynamic surface sliding control method are adopted. The simulation results demonstrate the effectiveness of the distributed cooperative control algorithm.

scholarly journals Distributed Cooperative Control for Stepper Motor Synchronization

2018 ◽  
Vol 167 ◽  
pp. 02001
Author(s):  
Sauro J Yague ◽  
Guillermo Reyes Carmenaty ◽  
Alejandro Rolán Blanco ◽  
Aurelio García Cerrada
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Torque Control ◽  
Stepper Motor ◽  
Two Phase ◽  
Control Techniques ◽  
Control Effectiveness ◽  
Stepper Motors ◽  
Distributed Cooperative Control ◽  
Multi Agents

This paper describes the design and simulation of a distributed cooperative control algorithm based on multi-agents to synchronize a group of stepper motors. Modeling of the two-phase hybrid stepper motor in closed loop is derived in {d - q} rotary reference frame, based on field-oriented control techniques to provide torque control. The simulation obtained by MATLAB-Simulink shows that the distributed cooperative control effectiveness depends on the network topology defined by the graph.

Consensus Control for Battery Management System

2014 ◽  
Vol 945-949 ◽  
pp. 2732-2736
Author(s):  
Chun Hui Yang ◽  
Fan Zhang ◽  
Dong Yu Yang ◽  
Jun Lin
Keyword(s):  
Management System ◽  
Cooperative Control ◽  
Energy State ◽  
Consensus Algorithm ◽  
Discharge Process ◽  
Battery Management System ◽  
Battery Management ◽  
Consensus Control ◽  
Consensus Algorithms ◽  
Safety And Reliability

Safety and Reliability are fundamental and challenging problems in the Battery Management System (BMS). To maximize the lifetime of battery, the process of charge and discharge must have to consider consensus. This paper provides a theoretical framework for analysis of consensus control with an emphasis on robustness due to the battery differentiation. A hybrid model is constructed to illustrate the process of updating energy state and topology structure. Based on the model, a consensus algorithm for BMS is proposed. It’s useful for evaluating optimal utilization of battery management at design phase. Related analysis reveals that the energy state of discharge process in battery modules converges to balance. A prototype of simulation was developed according to the constructed model. Simulations results are presented that demonstrate the effects on the speed of consensus algorithms and cooperative control of battery modules.

scholarly journals Integrated Guidance and Control of Multiple Interceptor Missiles Based on Improved Distributed Cooperative Control Strategy

2019 ◽  
Author(s):  
Xiang Liu ◽  
Xiaogeng Liang
Keyword(s):  
Control Strategy ◽  
Cooperative Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Design Method ◽  
Dynamic Surface ◽  
Guidance And Control ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Distributed Cooperative Control

In this study, an improved cooperative integrated guidance and control (IGC) design method is proposed based on distributed networks to address the guidance and control problem of multiple interceptor missiles. An IGC model for a leading interceptor is constructed based on the relative kinematic relations between missiles and a target and the kinematic equations of the missiles in a pitch channel. The unknown disturbances of the model are estimated using a finite-time disturbance observer (FTDO). Then, the control algorithm for the leading interceptor is designed according to the disturbance estimation and nonsingular fast dynamic surface sliding mode control (SMC). To enhance the rate of convergence of the cooperative control commands for the interceptors, an improved cooperative control strategy is proposed based on the leader-follower distributed network. Consequently, the two velocity components of the interceptor in the pitch channel can be obtained, which are subsequently converted to the total velocity and flight path angle commands of the interceptor using kinematic relations. The control algorithm for the following interceptor is similarly designed using an FTDO and dynamic surface SMC. The effectiveness of the improved distributed cooperative control strategy for multiple interceptors is validated through simulations.

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