Most of the multi-agent formation and obstacle avoidance algorithms in the literature are computationally expensive and/or presents an ad hoc method for a specific type of systems. A general inexpensive, in term of co...
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Most of the multi-agent formation and obstacle avoidance algorithms in the literature are computationally expensive and/or presents an ad hoc method for a specific type of systems. A general inexpensive, in term of computational complexity, multi-agent formation and obstacle avoidance algorithm is modeled and designed in this paper. The method builds on the leader-follower strategy for the simplicity and applicability for a wide range of the engineering systems. A novel artificial potential function (APF) is proposed. The proposed function has unique attributes which differentiate it superior to what is reported in the literature. The proposed algorithm can be applied for first order systems, second order systems, and non-holonomic systems. Also, the proposed method is free of local minima problem and oscillations. In addition, a novel multi-agent system formation control design is proposed in this work. The proposed design allows to embed any formation in the system paradigm and reduces complexity. Moreover, the stability of the proposed method is investigated in terms of Riccati equation and Lyapunov method. Furthermore, to show the effectiveness of the proposed method it applied and simulated for a second order leader and one follower system with specific formation. Then, a five second order agents with leader in a circular formation avoiding simple and complex obstacles are also introduced with different scenarios. Finally, twenty agents with square formation with two obstacles are simulated and investigated.
Navy shipboard power systems have limited generation capacity and include a large portion of dynamic loads and high-energy weapon loads, which can overload the generators easily. The power generation and the load dema...
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ISBN:
(纸本)9781612847894
Navy shipboard power systems have limited generation capacity and include a large portion of dynamic loads and high-energy weapon loads, which can overload the generators easily. The power generation and the load demand of the system should be balanced while satisfying the system's operating constraints in real-time to make the system operate normally. This paper presents a multi-agent system for the next generation integrated power system (NG IPS) in high/medium voltage level to coordinate a group of agents to cooperatively achieve the real-time load management objectives. The generator agent layer and load agent layer are designed to integrate a group of generators, propulsion loads, and DC zones into the multi-agent system. The cooperative control protocol is developed based on the proposed artificial potential function to achieve the group goals in real-time. The simulation results show that the developed technique achieves the real-time load management objectives.
This paper studies attitude and orbit coupled control scheme for spacecraft rendezvous and docking. On basis of the spacecraft attitude and orbit coupled model using modified Rodrigues parameters(MPRs) on the chaser s...
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This paper studies attitude and orbit coupled control scheme for spacecraft rendezvous and docking. On basis of the spacecraft attitude and orbit coupled model using modified Rodrigues parameters(MPRs) on the chaser spacecraft body coordinate system, an adaptive sliding mode controller is proposed for the situation of unknown upper bound of external disturbances. A new artificial potential function is presented to approximate final approaching corridor. The use of the potentialfunction in the controller can guarantee the chaser move in the safe area. Lyapunov theory is adopted to prove that the states of the system under the proposed controller are bounded, and the chaser can realize rendezvous and docking without collision. The numerical simulations are conducted to further demonstrate the effectiveness of the proposed controller.
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