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Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection

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arXiv 2021年

作者： Wu, Haiwen Jayawardhana, Bayu de Marina, Hector Garcia Xu, Dabo Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain The School of Automation Nanjing University of Science and Technology Nanjing210094 China

This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be non-vanishing and are superposition of finite number of sinusoidal and step signals. The formation control objective is achieved by assigning virtual springs between end-effectors, by adding damping terms at joints, and by incorporating internal model-based dynamic compensators to counteract the effect of the disturbances;all of which presents a clear physical interpretation of the proposed approach. Simulation results are presented to illustrate the effectiveness of the proposed approach. © 2021, CC BY.

关键词： End effectors

Angle-Constrained Formation control for Circular Mobile Robots

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arXiv 2020年

作者： Chan, Nelson P.K. Jayawardhana, Bayu de Marina, Hector Garcia Engineering and Technology Institute Groningen University of Groningen Nijenborgh 4 Groningen9747AG Netherlands Department of Computer Architecture and Automatic Control at the Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain

— In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior angle measurements of the neighboring robots’ disk, which can be obtained from low-cost vision sensors, we propose a gradient-based distributed control law and show the exponential convergence property of the associated error system. By construction, the proposed control law has the appealing property of ensuring collision avoidance between neighboring robots. We also present simulation results for a team of four circular mobile robots forming a rectangular *** Codes 34H05, 70E60, 93C10, 93C85 Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

Stability analysis of gradient-based distributed formation control with heterogeneous sensing mechanism: Two and three robot case

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arXiv 2020年

This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the popular gradient-based control law which, in this paper, is either the distance-based or the bearing-only formation control. For the two and three robot case, we show that the use of heterogeneous gradient-based control laws can give rise to an undesired invariant set where a distorted formation shape is moving at a constant velocity. The (in)stability of such an invariant set is dependent on the specified distance and bearing constraints. For the two robot case, we prove almost global stability of the desired equilibrium set while for the three robot case, we guarantee local asymptotic stability for the correct formation shape. We also derive conditions for the three robot case in which the undesired invariant set is locally attractive. Numerical simulations are presented for illustrating the theoretical results in the three robot *** Codes 34H05, 70E60, 93C10, 93C85 © 2020, CC-BY-NC-SA.

关键词： control theory

Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 3348-3353页

作者： Leonardo Colombo Patricio Moreno Mengbin Ye Héctor Garcia de Marina Ming Cao Institute of Mathematical Sciences (ICMAT) Madrid Spain LAR-GPSIC Facultad de Ingeniería Universidad de Buenos Aires Argentina Optus-Curtin Centre of Excellence in Artificial Intelligence Curtin University Australia Faculty of Physics Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Madrid Spain Faculty of Science and Engineering ENTEG University of Groningen Netherlands

A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are given by the discretization of Lagrange-d’Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. We derive forced variational integrators that can be employed in the context of control algorithms for distance-based shape with velocity consensus. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions, while preserving the configuration space and symmetries. We also provide an explicit expression for the integration scheme in the case of an arbitrary number of agents with double integrator dynamics. For a numerical comparison of the performances, we use a planar formation consisting of three autonomous agents.

关键词： Shape control Distributed control Multi-agent systems Forced variational integrators

Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems

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arXiv 2020年

作者： Colombo, Leonardo Moreno, Patricio Ye, Mengbin de Marina, Héctor Garcia Cao, Ming Madrid Spain LAR-GPSIC Facultad de Ingeniería Universidad de Buenos Aires Argentina Optus-Curtin Centre of Excellence in Artificial Intelligence Curtin University Australia Faculty of Physics Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Madrid Spain Faculty of Science and Engineering ENTEG University of Groningen Netherlands

关键词： Multi agent systems

Modelling and control of a Flexible Floating Boom: First Approach

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IFAC-PapersOnLine 2017年第1期50卷 13108-13113页

作者： Gapingsi, G.E. Korbas, R. Santos, M. Computer Architecture and Automatic Control Department Computer Science Faculty Complutense University of Madrid C/ Profesor García Santesmases 9 Madrid28040 Spain

Floating booms are useful tools in the marine world, especially for marine demarcation where some kind of contamination of sea, ocean or coastal water is present. In this work we have developed a mathematical model for a flexible floating boom which is hooked on two boats (unmanned surface vehicles). It is meant to be used for oil spill containment in marine areas. In order to simplify the model and to make possible its computer simulation, we have adopted a quasi-static approximation where we assume that the inertial forces are small compared to the drag forces applied to the boom. The simulation of this mathematical model has allowed the analysis of the behavior of the floating boom. Based on this knowledge, we have designed a control system which allows us to maintain the flexible floating boom in a specific configuration by controlling its shape. For that purpose, the control approach deals with the speed of the two ends of the floating boom. The results obtained with the implemented control system are encouraging, considering the model is a simplified discrete one and the control effort is reasonable. © 2017

关键词： Marine pollution control systems Drag Knowledge based systems Models Oil spills Unmanned surface vehicles control approach Floating boom Inertial forces Knowledge based control Modelling and controls Quasistatic approximations Simulation Spill containment

Steady-state analysis of a neural-cognition based human-social behavior model

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arXiv 2018年

作者： Wei, Jieqiang Nekouei, Ehsan Wu, Junfeng Cvetkovic, Vladimir Johansson, Karl H. Department of Automatic Control School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-100 44 Sweden College of Control Science and Engineering Zhejiang University Hangzhou China School of Architecture and the Built Environment

We consider an extension of the Rescorla-Wagner model which bridges the gap between conditioning and learning on a neural-cognitive, individual psychological level, and the social population level. In this model, the interaction among individuals is captured by a Markov process. The resulting human-social behavior model is a recurrent iterated function systems which behaves differently from the classical Rescorla- Wagner model due to randomness. Convergence and ergodicity properties of the internal states of agents in the proposed model are studied. Copyright © 2018, The Authors. All rights reserved.

关键词： Decision making

A new open-source and smart-device accessible remote control laboratory

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A new open-source and smart-device accessible remote control...

Experiment@ International Conference (exp.at)

作者： Julin Bermúdez-Ortega Eva Besada-Portas José A. López-Orozco Jesús M. de la Cruz Department of Computer Architecture and Automatic Control Complutense University of Madrid Madrid Spain

ISBN: (纸本)9781538608111

In this paper we show a new remote lab software architecture for automatic control Education. This architecture is based on *** and Easy Java/JavaScript Simulations, which make it lightweight and accessible from smart devices like smartphones or tablets. It is easily adaptable to different types of controllers and experiments, as the existing labs at the University Complutense of Madrid show.

关键词： Graphical user interfaces Servers computer architecture Open source software Education Computational modeling Web pages

Assessment of the Energy Characteristic of the Terrace House

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IOP Conference Series: Materials Science and Engineering 2019年第5期471卷

作者： Urszula Pawlak Marcin Pawlak Department of Mechanics Metal Structures and Computer Methods Faculty of Civil and Architecture Kielce University of Technology al. 1000-lecia Państwa Polskiego 7 25-314 Kielce Poland Department of Power Engineering Electronics Faculty of Electrical Engineering Automatic Control and Computer Kielce University of Technology al. 1000-lecia Państwa Polskiego 7 25-314 Kielce Poland

In the article, the energy characteristics of a terraced house located in Kielce were assessed. The analyzed house was put into use in 1982. Due to the old manufacturing technology, mainly in the area of the materials used, to limit significant heat losses, it has been thermally renewed many times. The aim of the calculations was to indicate the financial benefits, in example to reduce the costs of maintaining the house and to provide its residents with the proper comfort of use of the building, also taking into account the health aspects. The analysis of the object was made in several stages. Proposed are changes reducing the demand for non-renewable primary energy Ep, using modern thermal insulation materials, joinery with low heat transfer coefficient and renewable energy sources. As a result, an energy-efficient building that meets WT 2017 was obtained. The annual demand for non-renewable primary energy EP was determined using the Certo 2015 program in educational version 1.3.3.0.

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