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Event-based reconfiguration control for Time-varying Formation of Robot Swarms in Narrow Spaces

Intelligent Service Robotics 2025年

作者： Duy-Nam Bui Manh Duong Phung Hung Pham Duy VNU Univ Engn & Technol 144 Xuan Thuy Hanoi 100000 Vietnam Fulbright Univ Vietnam 105 Ton Dat Tien Ho Chi Minh City 70000 Vietnam

This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where each node represents a robot capable of collecting real-time data on the environment and the states of other robots in the formation. This data serves as the input for the controller to provide dynamic adjustments between the desired and straight-line configurations. The controller incorporates a set of behaviors, designed using artificial potential fields, to meet the requirements of goal-oriented motion, formation maintenance, tailgating, and collision avoidance. The stability of the formation control is guaranteed via the Lyapunov theorem. Simulation and comparison results show that the proposed controller not only successfully navigates the robot swarm through narrow spaces but also outperforms other established methods in key metrics including the success rate, heading order, speed, travel time, and energy efficiency. Software-in-the-loop tests have also been conducted to validate the controller's applicability in practical scenarios. The source code of the controller is available at .

关键词： Multi-robot system Time-varying formation reconfiguration control Formation control Swarm robots

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On Lyapunov stability of artificial potential function-based low-thrust constellation reconfiguration control

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ADVANCES IN SPACE RESEARCH 2024年第5期74卷 2316-2330页

作者： Fang, Zhengqing Liu, Fucheng Han, Fei Wang, Zhaokui Tsinghua Univ Sch Aerosp Engn 30 Shuangqing Rd Beijing 100084 Peoples R China Shanghai Key Lab Aerosp Intelligent Control Techno Shanghai 201109 Peoples R China Shanghai Inst Spaceflight Control Technol Shanghai 201109 Peoples R China

The configuration control of constellations which consist of numerous satellites presents significant challenges. Such space systems demand the capability for autonomous reconfiguration to accomplish specific missions. Individual satellites within constellations are primarily equipped with low-thrust systems, rendering traditional impulse control methods for satellite formation and mission planning ineffective. To address this issue, this paper proposes a low-thrust constellations reconfiguration control method utilizing an artificial potential function. Relying exclusively on neighboring state information, satellites can dynamically modulate their control efforts in real-time. The stability of the proposed reconfiguration control method is established under modelable, bounded perturbation using Lyapunov theory. Furthermore, a repulsive potential function is formulated to ensure collision avoidance among satellites. Numerical results indicate that the proposed method is stable, computationally efficient, and guarantees the safe distance during maneuvers. Consequently, this method is ideally suited for reconfiguration tasks across a spectrum of large space systems, including mega-constellations. (c) 2024 COSPAR. Published by Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

关键词： Constellation reconfiguration control Artificial potential function Low-thrust Lyapunov stability

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Maintenance and reconfiguration control strategy in formation flight system

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JBIS-JOURNAL OF THE BRITISH INTERPLANETARY SOCIETY 2004年第7-8期57卷 226-236页

作者： Xu, YJ Fitz-Coy, N Univ Florida Dept Mech & Aerosp Engn Gainesville FL 32611 USA

The concept of the formation flight system dates back to 1984. In recently years, the innovative idea of this distributed system has been seriously considered for numerous missions, such as NMP (New Millennium Program), Steller Imager, MAXIM (Micro-Arcsecond X-ray Imaging Mission), TPF (Terrestrial Planet Finder), SPHERES, and UoSat-12. One of the attractive advantages of the formation flying system over the conventional large-size monotonic satellite is the flexibility and reliability. In order to achieve this, multiple vehicles' maintaining and reconfiguration control is one of the key techniques need to be solved in the near future. Leader-follower structure is a widely used architecture for the formation. Based on this simplified pair, different dynamic models are derived and corresponding controllers are designed. In this work, first, the generalized dynamics model including the coupled orbit and orientation models is briefly discussed. Sliding mode control and boundary layer control based on the genetic algorithm is proposed as the control strategies. After that, formation configuration and reconfiguration architecture are discussed. Finally, a five-satellite formation is used as an example to validate the formation maintenance and reconfiguration method.

关键词： formation flying reconfiguration control collision avoidance genetic algorithm sliding mode control

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Study on the Mobile Robot reconfiguration control Methods

Study on the Mobile Robot Reconfiguration Control Methods

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IEEE International Conference on Automation and Logistics

作者： Lu, Jingli Bu, Chunguang Chinese Acad Sci Grad Univ Beijing 100049 Peoples R China Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Peoples R China

ISBN: (纸本)9781424447947

The control strategies of reconfiguration and obstacles negotiation are the intensive topic in the filed of leg-wheel hybrid robot. Based on the analysis of structure characters of leg-wheel hybrid robot and the disadvantage of early control method, this paper proposes a new reconfiguration control method in rough terrain and an auto-control method to get over channels, ridges etc. These control strategies are experimented in a six-leg-wheel hybrid robot which is designed by Shenyang Institute of Automation, and the results show that these control strategies can be effective used in rough terrain.

关键词： robot reconfiguration control obstacle negotiation

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Efficiency analysis and reconfiguration control method of small satellite remote sensing formation constellation 40

Efficiency analysis and reconfiguration control method of sm...

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40th Chinese control Conference (CCC)

作者： Feng Xiao-hui Bai Bao-cun Space Engn Univ State Key Lab Laser Prop & Applicat Beijing 101416 Peoples R China DFH SATELLITE CO LTD Beijing 100094 Peoples R China Space Syst Dept Project Management Ctr Equipment Dept Beijing 100094 Peoples R China

ISBN: (纸本)9789881563804

The effectiveness and reconfiguration analysis of Leo large-scale remote sensing satellite constellation is of great significance to satellite constellation system design and system *** article first analyzed the performance of the latest remote sensing satellite constellation through comprehensive index evaluation function. Then the feature of on-orbit service failure was analyzed according to the service availability of life prediction model. The residual properties of constellation in different failure modes was also introduced and the optimization strategy for the rest of the constellation to reconfiguration was optimized. Finally, the reconfiguration path was reconstructed by the optimal control method and LQR control strategy was used to the simulation, which can assess the overall performance of the constellation in the process of damage and reconstruction and the rationality of the reconfiguration scheme.

关键词： efficiency analysis reconfiguration control constellation simulation remote sensing satellite

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RLReC: Towards Reinforcement Learning-based Dynamic Design of reconfiguration control 27

RLReC: Towards Reinforcement Learning-based Dynamic Design o...

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27th International Conference on Knowledge Based and Intelligent Information and Engineering Sytems, KES 2023

作者： Ali, Amen Ben Hadj Ahmed, Samir Ben Faculté des Sciences de Tunis Tunis El Manar University Tunis Tunisia

The design of Reconfigurable control Systems (RCS) is a tremendous task since that their increasing need for reconfiguration imposes the anticipation of all potential runtime changes at design time, which is in most cases infeasible. To deal with the high dynamicity of RCS at design-time we propose a novel design approach, RLReC (Reinforcement Learning-based reconfiguration control) allowing for the improvement of reconfiguration knowledge through online (runtime) exploration. This approach combines the benefits of meta-modelling with Reinforcement Learning (RL) principals for reconfiguration knowledge modelling in order to handle early and effective exploration of various design choices. In this work, the reconfiguration controller is an autonomous software agent designed as a RL agent (RLRA) that handles both offline (exploitation) and online (exploration) learning through interactions with the controlled system at runtime. In particular, the RLRA has to select reconfiguration rules that were not selected before, which is known as exploration. The main aim of this proposal is to cope with design-time unplanned changes by giving the RLRA the ability of improving its knowledge through online learning feedback. We illustrate the use of our contributions with a running example from the manufacturing domain. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0)

关键词： Dynamic Design Exploitation Exploration Intelligent controller reconfiguration control reconfiguration Knowledge Reinforcement Learning

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reconfiguration control for fighters based on dynamic adaptive neural network

Reconfiguration control for fighters based on dynamic adapti...

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2011 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS 2011)

作者： Zhang Min College of Information Science and control,Nanjing University of Information Science & Technology Nanjing,China Shen Xiaoning

For the complex flight control system of a fighter,a kind of robust adaptive control method using dynamic adaptive neural network is presented in this paper,so that the controlled system can not only track the given signal under different working conditions,but also reconfigure control law for some structural ***,a kind of multiple-model control structure is formed by several linear models and one fuzzy *** the way of fuzzy logic,the weights of the multiple-model adaptive controller are obtained,and then a dynamic adaptive neural network is introduced to stable the whole system and eliminate the influence caused by frequent *** simulation results show the control method presented is effective by demonstrating normal flight process and that with structure failures

关键词： dynamic adptive neural network reconfiguration control multiple model

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ADAPTIVE reconfiguration control FOR FIGHTERS BASED ON WEIGHTED MULTIPLE-MODEL-STRUCTURE

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Transactions of Nanjing University of Aeronautics and Astronautics 2010年第3期27卷 219-225页

作者：肖前贵张敏胡寿松南京航空航天大学自动化学院南京信息工程大学信息与控制学院

Aimed at the complex flight control system of a fighter,a kind of robust adaptive control methods using multiple models is presented to make the control system track the given signal under different working conditions and to reconfigure the control law for some structural failures. Firstly,the multiple-model control structure is formed by several linear models and one fuzzy model. In the fuzzy logic way,weights of the multiple-model adaptive controller are obtained. Then,a dynamic structure adaptive neural network is introduced to stabilize the whole system and eliminate the influence caused by the frequent switching. Simulation results show that the control method is effective by demonstrating the normal flight process and the control simulation with failures.

关键词： robust control neural networks reconfiguration control

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A reconfiguration control Scheme for a Quadrotor Helicopter via Combined Multiple Models

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2014年第8期11卷 122-122页

作者： Chen, Fuyang Wu, Qingbo Tao, Gang Jiang, Bin Nanjing Univ Aeronaut & Astronaut Coll Automat Nanjing Jiangsu Peoples R China Univ Virginia Dept Elect & Comp Engn Charlottesville VA 22903 USA

In this paper, an optimal reconfiguration control scheme is proposed for a quadrotor helicopter with actuator faults via adaptive control and combined multiple models. The combined models set contains several fixed models, an adaptive model and a reinitialized adaptive model. The fixed models and the adaptive model can describe the failure system under different fault conditions. Moreover, the proposed reinitialized adaptive model refers to the closest model of the current system and can improve the speed of convergence effectively. In addition, the reference model is designed in consideration of an optimal control performance index and the principle of the minimum cost to achieve perfect tracking performance. Finally, some simulation results demonstrate the effectiveness of the proposed reconfiguration control scheme for faulty cases.

关键词： Adaptive control Multiple Models Optimization Quadrotor Helicopter reconfiguration control

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A Multi-Model Based Adaptive reconfiguration control Scheme for an Electro-Hydraulic Position Servo System

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INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE 2022年第2期32卷 185-196页

作者： ZHANG, Z. H. A. O. YANG, Z. H. O. N. G. LIU, S. H. U. C. H. A. N. G. CHEN, S. H. U. A. N. G. ZHANG, X. I. A. O. K. A. I. Chinese Acad Sci Changchun Inst Opt Fine Mech & Phys 3888 Dongnanhu Rd Changchun 130033 Peoples R China Nanjing Univ Aeronaut & Astronaut Coll Automat Engn 29 Jiangjun Ave Nanjing 211100 Peoples R China Aviat Key Lab Sci & Technol Aero Electromech Syst Elect Engn Dept 33 Shuige Rd Nanjing 211100 Peoples R China

Reliability and safety of an electro-hydraulic position servo system (EHPSS) can be greatly reduced for potential sensor and actuator faults. This paper proposes a novel reconfiguration control (RC) scheme that combines multi-model and adaptive control to compensate for the adverse effects. Such a design includes several fixed models, one adaptive model, and one reinitialized adaptive model. Each of the models has its own independent controller that is based on a complete parametrization of the corresponding fault. A proper switching mechanism is set up to select the most appropriate controller to control the current plant. The system output can track the reference model asymptotically using the proposed method. Simulation results validate robustness and effectiveness of the proposed scheme. The main contribution is a reconfiguration control method that can handle component faults and maintain the acceptable performance of the EHPSS.

关键词： fault tolerant control electro-hydraulic position servo system multiple models adaptive control reconfiguration control

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