Multiagent Control of Airplane Wing Stability with “Feathers” under the Flexural Torsional Flutter

This paper proposes a novel method for the unbounded oscillation prevention of an aircraft wing under the flexural torsional flutter, an innovative multiagent attitude to control an aircraft wing with a surface consisting of managed rotating “feathers” (agents). Theoretical evaluation of the method demonstrates its high aptitude to avoid an aircraft wing’s flexural-torsional vibrations via expansion of the model’s ability to dampen the wing oscillations. It potentially allows increasing an aircraft’s speed without misgiving of the flutter. A new way to control an aircraft wing based on the Speed-Gradient methodology is suggested to increase the maximal possible flight speed without a flutter occurrence. Provided experiments demonstrate the theoretical advantage of the multiagent approach to the “feathers” rotation control.

Compatibility of state constraints and dynamics for multiagent control systems

This study concerns the problem of compatibility of state constraints with a multiagent control system. Such a system deals with a number of agents so large that only a statistical description is available. For this reason, the state variable is described by a probability measure on $${\mathbb {R}}^d$$ R d representing the density of the agents and evolving according to the so-called continuity equation which is an equation stated in the Wasserstein space of probability measures. The aim of the paper is to provide a necessary and sufficient condition for a given constraint (a closed subset of the Wasserstein space) to be compatible with the controlled continuity equation. This new condition is characterized in a viscosity sense as follows: the distance function to the constraint set is a viscosity supersolution of a suitable Hamilton–Jacobi–Bellman equation stated on the Wasserstein space. As a byproduct and key ingredient of our approach, we obtain a new comparison theorem for evolutionary Hamilton–Jacobi equations in the Wasserstein space.

Learning Feedforward Control Using Multiagent Control Approach for Motion Control Systems

Multiagent control system (MACS) has become a promising solution for solving complex control problems. Using the advantages of MACS-based design approaches, a novel solution for advanced control of mechatronic systems has been developed in this paper. The study has aimed at integrating learning control into MACS. Specifically, learning feedforward control (LFFC) is implemented as a pattern for incorporation in MACS. The major novelty of this work is that the feedback control part is realized in a real-time periodic MACS, while the LFFC algorithm is done on-line, asynchronously, and in a separate non-real-time aperiodic MACS. As a result, a MACS-based LFFC design method has been developed. A second-order B-spline neural network (BSN) is used as a function approximator for LFFC whose input-output mapping can be adapted during control and is intended to become equal to the inverse model of the plant. To provide real-time features for the MACS-based LFFC system, the open robot control software (OROCOS) has been employed as development and runtime environment. A case study using a simulated linear motor in the presence of nonlinear cogging and friction force as well as mass variations is used to illustrate the proposed method. A MACS-based LFFC system has been designed and implemented for the simulated plant. The system consists of a setpoint generator, a feedback controller, and a time-index LFFC that can learn on-line. Simulation results have demonstrated the applicability of the design method.

Средства информационного обеспечения функционирования группы автономных необитаемых подводных аппаратов с мультиагентной системой управления

Область применения автономных необитаемых подводных аппаратов (АНПА) сегодня весьма обширна и постоянно увеличивается. Все чаще рассматриваются варианты группового применения аппаратов для повышения скорости и эффективности выполнения работ. Одно из приоритетных направлений управления группой аппаратов мультиагентная система управления, которая, несомненно, имеет значительные преимущества перед централизованной и сегодня представляет собой одно из наиболее перспективных направлений в области подводного роботостроения. Для создания таких систем требуется решение большого количества технических проблем, среди которых можно выделить две основные задачи: обеспечение эффективной координации аппаратов при их групповом применении и создание программной платформы, обеспечивающей взаимодействие большого количества разнородных устройств и программ. Вопросам создания технических средств обеспечения функционирования АНПА в мультиагентной среде посвящена настоящая статья.The field of application of Autonomous uninhabited underwater vehicles (AUV) is very extensive today and is constantly increasing. More and more often options of group application of devices are being considered for enhance of effectiveness and speed of mission completion. One of the priority areas for managing a group of devices is a multiagent control system (MAS), which undoubtedly has significant advantages over a centralized one and today represents one of the most promising areas in the field of underwater robot engineering. The creation of such systems requires the solution of many technical problems, among which there are two main tasks: ensuring the effective coordination of devices in their group application and creating a software platform that provides interaction of a large number of heterogeneous devices and programs. This article is devoted to the creation of technical means to ensure the functioning of AUV in a multi-agent environment.