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On the leader-following exponential consensus of discrete-time linear multi-agent systems over jointly connected switching networks

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control Theory and Technology 2023年第3期21卷 469-477页

作者： Tao Liu Jie Huang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055GuangdongChina Shenzhen Research Institute The Chinese University of Hong KongShenzhen 518057GuangdongChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina

The leader-following asymptotic consensus problem for general discrete-time linear multi-agent systems over jointly con-nected switching networks was solved about a decade ***,the leader-following exponential consensus was further established using the so-called Krasovskii-LaSalle theorem for a class of discrete-time linear switched *** this method involves some advanced concepts such as the weak zero-state detectability of some limiting *** this paper,we offer a simpler solution to the leader-following exponential consensus problem for general discrete-time linear multi-agent systems over jointly connected switching *** converting the solvability of the problem to the establishment of the exponential stability for a class of discrete-time linear switched systems,we first show that this class of linear switched systems is uniformly completely ***,we further conclude that the uniform complete observability for this class of linear switched systems implies the exponential stability for the same class of linear switched systems,thus leading to the solution of the leader-following exponential consensus ***,our approach also gives rise to an explicit characterization of the exponential convergence rate of the leader-following consensus problem.

关键词： Leader-following consensus Exponential stabilization-Linear switched systems Discrete-time systems

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Investigating Optimal Tracking Intervals for Solar Tracking systems to Enhance Efficiency and Performance

Investigating Optimal Tracking Intervals for Solar Tracking ...

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2024 IEEE International Conference on Artificial Intelligence and Green Energy, ICAIGE 2024

作者： Dahli, Khadidja Ilinca, Adrian Benallal, Abdellah Cheggaga, Nawel University of Blida 1 Electrical and Remote Control Systems Laboratory LabSET Faculty of Technology Blida Algeria Ecole de Technologie Superieure Department of Mechanical Engineering MontrealQC Canada University of Quebec at Rimouski Wind Energy Laboratory RimouskiQC Canada

ISBN: (纸本)9798350389838

Conventional solar trackers continuously adjust solar panels to optimize energy production, a process that can consume significant energy, potentially surpassing the energy gained. This research examines the most effective tracking interval for solar tracking systems to mitigate this issue. Through testing with intervals ranging from 5 minutes to 5 hours, it was determined that setting tracking intervals no shorter than 1 hour and no longer than 2 hours and 30 minutes is recommended to achieve a balance between energy efficiency and production. Additionally, this study suggests that elevation and azimuth angles should not be tracked using the same time periods;instead, a 2-hour interval for elevation tracking and a 3-hour interval for azimuth angle tracking are advised for optimal performance. The proposed discrete tracking method consumes less than 0.15% of the energy produced, thereby enhancing energy efficiency, reducing unnecessary energy consumption, and improving the overall reliability and lifespan of solar tracking systems. This approach has the potential to significantly impact the future of solar power by enhancing the efficiency and reliability of solar tracking systems, thereby increasing the viability and appeal of solar energy as a primary renewable resource. © 2024 IEEE.

关键词： discrete tracking energy efficiency renewable resource solar power solar trackers

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Reduced-Order Model Guided Contact-Implicit Model Predictive control for Humanoid Locomotion

arXiv

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arXiv 2025年

作者： Esteban, Sergio A. Kurtz, Vince Ghansah, Adrian B. Ames, Aaron D. The Department of Mechanical and Civil Engineering California Institute of Technology PasadenaCA91125 United States The Department of Control and Dynamical Systems California Institute of Technology PasadenaCA91125 United States

Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear hybrid dynamics. While reduced-order models like the Hybrid Linear Inverted Pendulum (HLIP) are simple and computationally efficient, they lose whole-body expressiveness. Meanwhile, recent advances in Contact-Implicit Model Predictive control (CI-MPC) enable robots to plan through multiple hybrid contact modes, but remain vulnerable to local minima and require significant tuning. We propose a control framework that combines the strengths of HLIP and CI-MPC. The reduced-order model generates a nominal gait, while CIMPC manages the whole-body dynamics and modifies the contact schedule as needed. We demonstrate the effectiveness of this approach in simulation with a novel 24 degree-of-freedom humanoid robot: Achilles. Our proposed framework achieves rough terrain walking, disturbance recovery, robustness under model and state uncertainty, and allows the robot to interact with obstacles in the environment, all while running online in real-time at 50 Hz. Copyright © 2025, The Authors. All rights reserved.

关键词： Model predictive control

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Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion

Synthesizing Robust Walking Gaits via Discrete-Time Barrier ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Maegan Tucker Kejun Li Aaron D. Ames School of Electrical and Computer Engineering and the Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA Department of Computation and Neural Systems California Institute of Technology Pasadena CA Department of Mechanical and Civil Engineering and the Department of Control and Dynamical Systems California Institute of Technology Pasadena CA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness – the estimated size of the hybrid forward invariant set associated with the step-to-step dynamics. Here, the forward invariant set can be loosely interpreted as the region of attraction for the discrete-time dynamics. We illustrate the use of this metric towards synthesizing nominal walking gaits using a simulation-in-the-loop learning approach. Further, we leverage discrete-time barrier functions and a sampling-based approach to approximate sets that are maximally forward invariant. Lastly, we experimentally demonstrate that this approach results in successful locomotion for both flat-foot walking and multi-contact walking on the Atalante lower-body exoskeleton.

关键词： Legged locomotion Measurement Uncertainty Exoskeletons Robustness State estimation Robots

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On the Equivalence of Multi-Agent 2D Coverage control and Leader-Follower Consensus Network

On the Equivalence of Multi-Agent 2D Coverage Control and Le...

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American control Conference (ACC)

作者： Xiaotian Xu Alexander Davydov Yancy Diaz-Mercado Department of Mechanical Engineering University of Maryland College Park MD USA Department of Mechanical Engineering and the Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA

Coverage control algorithms seek to spatially distribute agents in a domain of coverage, e.g., to minimize proximity to all points. Leader-follower consensus network algorithms use local coordination rules to influence the behavior of a multi-agent system (MAS) as a whole through explicit control of a subset of agents (called leaders) and neighbor interactions. In this paper, the equivalence of these two classes of distributed algorithms for swarm robotics, that were once considered inherently different, is established. We present a swarm robotics application, where the real agents (i.e., the robots) in the domain of coverage are followers; and virtual agents (i.e., the leaders) are introduced based on the domain of coverage. The dynamics of followers are shown to be in the form of a weighted, state-dependent consensus protocol and the dynamics of the leaders (dependent on the evolution of the domain) are provided. Formulating a standard coverage algorithm (i.e., Lloyd’s algorithm) over 2D polygonal domains as a leader-follower consensus protocol makes the structure of the ensemble-level dynamics for the MAS explicit with respect to neighbor interaction. The resultant weighted graph Laplacian may contribute to the future investigation on the performance guarantees of a MAS tracking a time-varying domain. The equivalence of the two classes of algorithms is validated in simulation.

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Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization

Robust Bipedal Locomotion: Leveraging Saltation Matrices for...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Maegan Tucker Noel Csomay-Shanklin Aaron D. Ames Department of Mechanical and Civil Engineering California Institute of Technology Pasadena CA Department of Control and Dynamical Systems California Institute of Technology Pasadena CA

The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hard-ware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) – which traditionally only accounts for locomotive stability via periodicity constraints under perfect impact events – through the inclusion of the saltation matrix with a view toward synthesizing robust walking gaits. By jointly minimizing the norm of the extended saltation matrix and the torque of the robot directly in the gait generation process, we demonstrate that the synthesized gaits are more robust than gaits generated with either term alone; these results are shown in simulation and on hardware for the AMBER-3M planar biped and the Atalante lower-body exoskeleton (both with and without a human subject). The end result is experimental validation that combining saltation matrices with HZD methods produces more robust bipedal walking in practice.

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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Distributed Model Predictive control for Connected and Automated Vehicles in the Presence of Uncertainty

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Journal of Autonomous Vehicles and systems 2022年第1期2卷 011004页

作者： HomChaudhuri, Baisravan Bhattacharyya, Viranjan Autonomous Control Systems Laboratory Mechanical and Aerospace Engineering Department Illinois Institute of Technology ChicagoIL60616 United States Illinois Institute of Technology ChicagoIL60616 United States

This article focuses on the development of distributed robust model predictive control (MPC) methods for multiple connected and automated vehicles (CAVs) to ensure their safe operation in the presence of uncertainty. The proposed layered control framework includes reference trajectory generation, distributionally robust obstacle occupancy set computation, distributed state constraint set evaluation, data-driven linear model representation, and robust tube-based MPC design. To enable distributed operation among the CAVs, we present a method, which exploits sampling-based reference trajectory generation and distributed constraint set evaluation methods, that decouples the coupled collision avoidance constraint among the CAVs. This is followed by data-driven linear model representation of the nonlinear system to evaluate the convex equivalent of the nonlinear control problem. Finally, to ensure safe operation in the presence of uncertainty, this article employs a robust tube-based MPC method. For a multiple CAV lane change problem, simulation results show the efficacy of the proposed controller in terms of computational efficiency and the ability to generate safe and smooth CAV trajectories in a distributed fashion. Copyright © 2022 by ASME.

关键词： Model predictive control

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Study on Decentralization of Spherical Amphibious Multi-robot control System Based on Smart Contract and Blockchain

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Journal of Bionic engineering 2021年第6期18卷 1317-1330页

作者： Shuxiang Guo Sheng Cao Jian Guo Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa UniversityTakamatsuKagawaJapan

With the development of intelligent bionic robots and the improvement of military application,a single robot cannot meet the requirements of the tasks of the current *** more complex tasks require not only that the robot be able to pass through the field barriers and the amphibious environment,but also that the robot be able to collaborate in a multi-robot ***,research on the multi-robot control system of spherical amphibious robots is very ***,the main research on amphibious robots is to improve the functions of a single robot,in the absence of the study of the multi-robot control *** systems primarily use a centralized control *** the transfer of central node can be achieved,there is still a problem of Byzantine fault tolerance in military applications,that is,when the amphibious multi-robot system is invaded by the *** central node may not only fail to accomplish the task,but also lose control of other robots,with severe *** solve the above problems,this paper proposed a decentralized method of spherical amphibious multi-robot control system based on blockchain ***,the point-to-point information network based on long range radio technology of low power wide area network was set up,we designed the blockchain system for embedded application environment and the decentralized hardware and software architecture of multi-robot control *** this basis,the consensus plugin,smart contract and decentralized multi-robot control algorithm were designed to achieve *** experimental results of consensus of spherical amphibious multi-robot showed the effectiveness of the decentralization.

关键词： Amphibious robot Blockchain Smart contract control system Decentralization

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