In this work, a distributed containment algorithm is proposed for the control of a formation of unicycle-type robots and mobile manipulators. This algorithm considers an interaction network among the agents in the for...
详细信息
ISBN:
(纸本)9783030112929;9783030112912
In this work, a distributed containment algorithm is proposed for the control of a formation of unicycle-type robots and mobile manipulators. This algorithm considers an interaction network among the agents in the formation, which is associated with a weighted directed graph. The structure of the formation considers the cases when virtual or real leaders delimit it. Further, the leaders form a convex hull that bounds the formation, and the positions of the followers inside this convex hull are determined by the Laplacian matrix of the network graph. The robot models are separated into a kinematic and a dynamic component. For the kinematic component, a containment algorithm is designed, while for the dynamic component, a controller based on the compensation of the mechanical parameters is proposed. The designed controllers are verified through computer simulations considering distinct number of agents and formation shapes. Additionally, some perturbations and mechanical parameters variations were applied to verify the robustness of the control laws.
This paper presents a distributed control for the formation control of mobile manipulators. We use a mobile manipulator model that can be separated in a kinematic and a dynamic component. For the kinematic component (...
详细信息
ISBN:
(纸本)9789897583049
This paper presents a distributed control for the formation control of mobile manipulators. We use a mobile manipulator model that can be separated in a kinematic and a dynamic component. For the kinematic component (formation control), we propose a distributed containment algorithm with a smooth function to avoid the chattering phenomenon, which provides control actions applicable in real robots. For the dynamic component, a controller based on the compensation of the dynamic forces and torques is applied. The structure of the formation is given by: a group of virtual leaders, which are used as references and to delimit the physic boundaries, and a group of follower robots. The distribution of the followers is determined by a Laplacian matrix, which is built based on the desired positions of the robots inside the convex hull formed by the virtual leaders. To validate the designed controllers, a simulation of formation and tracking trajectory of 8 mobile manipulators is performed, considering as reference, a sinusoid in each coordinate axis.
This paper presents a novel distributed approach to achieve both bounded voltage and accurate reactive power sharing regulation in ac microgrid. The coupling/trade-off effects between bus voltages and reactive power s...
详细信息
This paper presents a novel distributed approach to achieve both bounded voltage and accurate reactive power sharing regulation in ac microgrid. The coupling/trade-off effects between bus voltages and reactive power sharing regulation are first analyzed in detail to provide a guideline for coordinated control design. Furthermore, a containment and consensus-based distributed coordination controller is proposed, by which the bus voltage magnitudes can be bounded within a reasonable range, instead of only controlling average voltage value. Furthermore, the accurate reactive power sharing between distributed generators can be achieved simultaneously. Then, a detailed small-signal model is developed to analyze the stability of the system and the sensitivity of different parameters. Experimental results are presented and compared, where the controller performance, robust performance under communication failure, and plug-and-play operation are successfully verified.
暂无评论