This paper considers multiple mobile agents moving in Euclidean space with point mass dynamics and with asymmetric coupling weights. Using a coordination control scheme, we can make the group generate stable flocking ...
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ISBN:
(纸本)0780389379
This paper considers multiple mobile agents moving in Euclidean space with point mass dynamics and with asymmetric coupling weights. Using a coordination control scheme, we can make the group generate stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces, and the control law acting on each agent relies on the position information of all agents in the group and the velocity information of its neighbors. By using the control laws, all agent velocities become asymptotically the same, collisions are avoided between the agents, and the group final formation minimizes all agent global potentials. Moreover, we show that the velocity of the center of mass (CoM) is invariant and is equal to the final common velocity. Finally, we study the motion of the group when the velocity damping is taken into account, and prove that the common velocity asymptotically approaches zero. In this case, we can properly modify the control scheme to generate the same stable flocking. Numerical simulations are worked out to illustrate our theoretical results
We focus on robust H/sub /spl infin// control analysis and synthesis for discrete-time switched systems with norm-bounded time-varying uncertainties. Sufficient conditions are derived to guarantee quadratic stability ...
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ISBN:
(纸本)0780390989
We focus on robust H/sub /spl infin// control analysis and synthesis for discrete-time switched systems with norm-bounded time-varying uncertainties. Sufficient conditions are derived to guarantee quadratic stability of switched systems with a prescribed H/sub /spl infin//-norm bound /spl gamma/. Each of these conditions can be dealt with as a linear matrix inequality (LMI) which can be easily tested with efficient algorithms. All the switching rules adopted are constructively designed and do not rely on any uncertainties.
This paper presents a framework for controlling groups of autonomous mobile robots to achieve predetermined formations based on leader-following approach. A three-level hybrid control architecture is proposed to imple...
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ISBN:
(纸本)0780389379
This paper presents a framework for controlling groups of autonomous mobile robots to achieve predetermined formations based on leader-following approach. A three-level hybrid control architecture is proposed to implement both centralized and decentralized cooperative control. Under such architecture, we decompose the global-level formation control problem of N robots into decentralized control problems between N-1 followers and their designated leader. In the leader-follower control level, two basic controllers are proposed to make the following robot keep relative position with respect to the leader and avoid collisions in the presence of obstacles. Then, graph theory is introduced to formalize specified formation patterns in a simple but effective way, and two types of switching between these formations are also proposed. Numerical simulations and physical robot experiments show the effectiveness of our approach
This paper introduces a new approach to robust stabilization of discrete-time delay systems under non-linear perturbations. For the discrete-time systems with state/input delays, the robust stabilization problem is tr...
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ISBN:
(纸本)0780390989
This paper introduces a new approach to robust stabilization of discrete-time delay systems under non-linear perturbations. For the discrete-time systems with state/input delays, the robust stabilization problem is transformed to a constrained convex optimization one. Sufficient conditions on the existence of state feedback controllers are established in terms of linear matrix inequality (LMI), which guarantee stability of the closed-loop system and at the same time maximize the non-linearity bound. Finally, numerical examples are presented to illustrate the efficiency and feasibility of our proposed approach.
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flockin...
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ISBN:
(纸本)0780389379
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces. By using the control laws, all agent velocities asymptotically approach the desired velocity, collisions can be avoided between agents, and the final tight formation minimizes all agent potentials. Moreover, we prove that the velocity of the center of mass (CoM) either is equal to the desired velocity or exponentially converges to it. Finally, for the case that not all agents know the desired final velocity, we show that the desired flocking motion can still be guaranteed
This paper describes an overall design procedure for a free-swimming, radio-controlled, multi-link biomimetic robotic dolphin mimicking dorsoventral movement. The swimming performance of the robotic dolphin is determi...
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This paper describes an overall design procedure for a free-swimming, radio-controlled, multi-link biomimetic robotic dolphin mimicking dorsoventral movement. The swimming performance of the robotic dolphin is determined by its morphological parameters and kinematic parameters. The thrust is produced by the up-down-motioned fluke, and the turning is achieved by its left-right-sided body deflecting. A 4-link, 550 mm-long robotic dolphin prototype is successfully developed in our laboratory and its basic motion abilities are measured and some data are analyzed which show some promising performance in aquatic environment
The research on coordination of multiple biomimetic robot fish is focused on basic theory and key technology for systematic control and cooperation of future multiple underwater robots. By employing the behavior-based...
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The research on coordination of multiple biomimetic robot fish is focused on basic theory and key technology for systematic control and cooperation of future multiple underwater robots. By employing the behavior-based approach presented in this paper, many coordinate tasks can be achieved efficiently. Taking account of the motional characteristics of the fish and its environment, six primitive behaviors are introduced and the corresponding mechanism for behavior selection is designed. Coordinate motions of the fish are then accomplished by means of behavior based strategies involving role assignments, behavior selection and role transition. Two experiments of passing-hole and pushing-ball primarily show the feasibility and effectiveness of our approach
This paper is concerned with the design and motion control of a radio-controlled, multi-link and free-swimming biomimetic robot fish based on an improved kinematic propulsive model. The performance of the robot fish i...
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ISBN:
(纸本)0780390989
This paper is concerned with the design and motion control of a radio-controlled, multi-link and free-swimming biomimetic robot fish based on an improved kinematic propulsive model. The performance of the robot fish is determined by the fish's both morphological parameters and kinematic parameters. By ichthyologic theories of propulsion, a framework taking into consideration of both mechatronic constraints in physical realization and feasibility of control methods is presented, where multiple linked robot fish propelled by a flexible posterior body and an oscillating tail fin can be easily developed. The motion control of robot fish is decomposed into speed control, orientation control and submerging/ascending control. The speed of the swimming fish can be adjusted by changing oscillating frequency, oscillating amplitude and the length of oscillatory part, respectively, and its orientation is tuned by different joint's deflections. The up-down motion is realized by a pectoral mechanism. Our robot fish prototypes verify that the presented scheme is effective in design and implementation.
Iterative learning control (ILC) is a powerful control concept that iteratively improves the behavior of processes that are repetitive in nature and cross-coupled control (CCC) has been developed to effectively reduce...
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Iterative learning control (ILC) is a powerful control concept that iteratively improves the behavior of processes that are repetitive in nature and cross-coupled control (CCC) has been developed to effectively reduce the contouring error. This paper proposes an integrated controller which combines ILC and CCC to achieve a better performance. In the presented preliminary simulation study, smaller contour error and tracking error can be achieved and moreover, contouring error is less oscillatory because CCC suppresses the inter-axis mismatch "cross error".
For uncertain fractional-order linear time invariant (FO-LTI) systems with interval coefficients described in state space form, the robust stability check problem is solved for the first time in this paper. Both the c...
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For uncertain fractional-order linear time invariant (FO-LTI) systems with interval coefficients described in state space form, the robust stability check problem is solved for the first time in this paper. Both the checking procedure and the Matlab code are presented with two illustrative examples. The conservatism is shown to be small.
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