scholarly journals Drone Swarms as Networked Control Systems by Integration of Networking and Computing

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2642
Author(s):  
Godwin Asaamoning ◽  
Paulo Mendes ◽  
Denis Rosário ◽  
Eduardo Cerqueira
Keyword(s):  
Control Systems ◽  
Networked Control Systems ◽  
Cooperative Behavior ◽  
Networked Control ◽  
Multi Agent Systems ◽  
Wireless Communication Network ◽  
Self Organized ◽  
Design Choice ◽  
Multi Agent ◽  
Computational Systems

The study of multi-agent systems such as drone swarms has been intensified due to their cooperative behavior. Nonetheless, automating the control of a swarm is challenging as each drone operates under fluctuating wireless, networking and environment constraints. To tackle these challenges, we consider drone swarms as Networked Control Systems (NCS), where the control of the overall system is done enclosed within a wireless communication network. This is based on a tight interconnection between the networking and computational systems, aiming to efficiently support the basic control functionality, namely data collection and exchanging, decision-making, and the distribution of actuation commands. Based on a literature analysis, we do not find revision papers about design of drone swarms as NCS. In this review, we introduce an overview of how to develop self-organized drone swarms as NCS via the integration of a networking system and a computational system. In this sense, we describe the properties of the proposed components of a drone swarm as an NCS in terms of networking and computational systems. We also analyze their integration to increase the performance of a drone swarm. Finally, we identify a potential design choice, and a set of open research challenges for the integration of network and computing in a drone swarm as an NCS.

Frequency domain consensus control analysis of the networked multi-agent system with controller area network bus–induced delay

2021 ◽  
pp. 107754632110224
Author(s):  
Muhammad Nasir ◽  
Muhammad Faisal Hayat ◽  
Ayesha Jamal ◽  
Zahoor Ahmed
Keyword(s):  
Frequency Domain ◽  
Control Systems ◽  
Networked Control Systems ◽  
Controller Area Network ◽  
Networked Control ◽  
Area Network ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Multi Agent

This article describes the consensus control issue of networked multi-agent system with controller area network bus–induced delay in the frequency domain. Initially, causes of the controller area network bus–induced delay in distributed networked control systems and features of controller area network buses are analyzed. Then, networked multi-agent systems composed of distributed networked control systems are modeled in the frequency domain. An analytical controller based on the parameterization technique is proposed to improve the H2 performance criterion of distributed networked control systems. The performance tracking and robustness of the controller is analyzed by its sensitivity functions. After the performance and robustness analysis, the delay margin criteria and consensus conditions of networked multi-agent systems are derived in the existence of controller area network bus–induced delay. We verify the efficiency of the proposed method by simulating examples.

scholarly journals Analisis dan Simulasi Networked Control Systems dalam Platform Robosoccer

2018 ◽  
Author(s):  
Asep Najmurrokhman ◽  
Kusnandar ◽  
Sunubroto
Keyword(s):  
Control Systems ◽  
Networked Control Systems ◽  
Networked Control ◽  
Multi Agent

Makalah ini telah dipresentasikan dalam Seminar Nasional Teknik Elektro Unjani 2013, Kampus Unjani, 18 Mei 2013. Robot sepakbola adalah kumpulan robot humanoid yang bekerja sama menghasilkan gol ke gawang lawan. Menurut FIRA (federation of international robosoccer association) sebagai organisasi yang mengembangkan robot sepakbola, penelitian terkait dengan robot sepakbola mencakup penelitian tentang koordinasi antar bagian dalam satu tim yang masing-masing anggotanya disebut agen, sehingga tim robot sepakbola disebut multi agent. Setiap agen memiliki dinamika dan karakteristikspesifik tetapi secara keseluruhan tim tersebut harus berkoordinasi mencapai tujuan yang diinginkan.Koordinasi antar agen dilakukan dengan protokolkomunikasi tertentu dan melalui skema pengendaliterdistribusi. Dalam konteks NCS, sistem robotsepakbola adalah sistem NCS yang pengendalinyaterdistribusi dalam ruang dan saling berkoordinasi dengan memanfaatkan jaringan komunikasi. Makalahini menguraikan tentang kerangka kerja NCS dalam platform robot sepakbola. Berbagai hal terkaitdengan parameter jaringan komunikasi dan pengaruhnya dalam sistem akan dibahas dan secara spesifik diterapkan dalam platform robot sepakbola.

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