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1

Formation control of nonholonomic wheeled mobile robots using adaptive distributed fractional order fast terminal sliding mode control

Damani Allaeddine Yahia, Benselama Zoubir Abdeslem, Hedjar Ramdan

Archive of Mechanical Engineering

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2023

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LXX, nr 4

567–-587

EN

In this paper, an adaptive distributed formation controller for wheeled nonholonomic mobile robots is developed. The dynamical model of the robots is first derived by employing the Euler-Lagrange equation while taking into consideration the presence of disturbances and uncertainties in practical applications. Then, by incorporating fractional calculus in conjunction with fast terminal sliding mode control and consensus protocol, a robust distributed formation controller is designed to assure a fast and finite-time convergence of the robots towards the required formation pattern. Additionally, an adaptive mechanism is integrated to effectively counteract the effects of disturbances and uncertain dynamics. Moreover, the suggested control scheme’s stability is theoretically proven through the Lyapunov theorem. Finally, simulation outcomes are given in order to show the enhanced performance and efficiency of the suggested control technique.

2

Decentralized multi-agent formation control with pole-region placement via cone-complementarity linearization

González Antonio, Sala Antonio, Armesto Leopoldo

International Journal of Applied Mathematics and Computer Science

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2022

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Vol. 32, no. 3

415--428

EN

An output-feedback decentralised formation control strategy is pursued under pole-region constraints, assuming that the agents have access to relative position measurements with respect to a set of neighbors in a graph describing the sensing topology. No communication between the agents is assumed; however, a shared one-way communication channel with a pilot is needed for steering tasks. Each agent has a separate copy of the same controller. A virtual structure approach is presented for the formation steering as a whole; actual formation control is established via cone-complementarity linearization algorithms for the appropriate matrix inequalities. In contrast to other research where only stable consensus is pursued, the proposed method allows us to specify settling-time, damping and bandwidth limitations via pole regions. In addition, a full methodology for the decoupled handling of steering and formation control is provided. Simulation results in the example section illustrate the approach.

3

Backward motion planning and control of multiple mobile robots moving in tightly coupled formations

Ramanathan Kuppan Chetty, Mohan Manju, Dhanraj Joshuva Arockia

Applied Computer Science

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2021

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Vol. 17, no 3

60--72

EN

This work addresses the development of a distributed switching control strategy to drive the group of mobile robots in both backward and forward motion in a tightly coupled geometric pattern, as a solution for the deadlock situation that arises while navigating the unknown environment. A generalized closed-loop tracking controller considering the leader referenced model is used for the robots to remain in the formation while navigating the environment. A tracking controller using the simple geometric approach and the Instantaneous Centre of Radius (ICR), to drive the robot in the backward motion during deadlock situation is developed and presented. State-Based Modelling is used to model the behaviors/motion states of the proposed approach in MATLAB/STATEFLOW environment. Simulation studies are carried out to test the performance and error dynamics of the proposed approach combining the formation, navigation, and backward motion of the robots in all geometric patterns of formation, and the results are discussed.

4

Formation control of underwater vehicles using Multi Agent System

Das Bikramaditya, Subudhi Bidyadhar, Pati Bibhuti Bhusan

Archives of Control Sciences

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2020

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Vol. 30, No. 2

365--384

EN

This paper proposes the development of a formation control algorithm of multiple acoustic underwater vehicles by employing the behaviour of autonomous mobile agents under a proposed pursuit. A robust pursuit is developed using the distributed consensus coordinated algorithm ensuring the transfer of information among the AUVs. The development of robust pursuit based on characteristics of multi-agent system is for solving the incomplete information capabilities in each agent such as asynchronous computation, decentralized data and no system global control. In unreliable and narrow banded underwater acoustic medium, the formation of AUVs based distributed coordinated consensus tracking can be accomplished under the constant or varying virtual leader’s velocity. Further, the study to achieve tracking based on virtual leader AUV’s velocity is extended to fixed and switching network topologies. Again for mild connectivity, an adjacency matrix is defined in such a way that an adaptive connectivity is ensured between the AUVs. The constant virtual leader vehicle velocity method based on consensus tracking is more robust to reduce inaccuracy because no accurate position and velocity measurements are required. Results were obtained using MATLAB and acquired outcomes are analysed for efficient formation control in presence of the underwater communication constraints.

5

Metoda samoorganizacji i podążania za liderem roju nieholonomicznych robotów mobilnych z wykorzystaniem wirtualnych elementów sprężysto-tłumiących

Eremeyev V., Wiech J.

Przegląd Mechaniczny

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2018

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nr 5

28--33

PL

Celem pracy jest demonstracja metody samoorganizacji i podążania za liderem nieholonomicznego roju robotów mobilnych, opartej na wirtualnych, tłumionych, liniowych sprężynach łączących sąsiadujące roboty. Analizę metody sterowania poprzedza wyprowadzenie dynamiki dwukołowego robota oraz określenie zależności między wirtualnymi siłami a wejściami sterującymi robota w celu osiągnięcia stabilnej formacji roju. Analizowane są dwa przypadki sterowania rojem. W pierwszym przypadku spójność roju jest osiągnięta przez wirtualne sprężyny z tłumikami, łączące najbliższe roboty bez wyznaczonego lidera. W drugim przypadku wprowadzany jest lider roju oddziałujący wirtualnymi siłami na najbliższych i drugich sąsiadów, umożliwiając podążanie roju za liderem. Praca kończy się symulacjami numerycznymi oceniającymi wydajność zaproponowanej metody sterowania rojem.

EN

This paper presents a method for self-organization and leader following of nonholonomic robotic swarm based on virtual spring damper mesh. The dynamics of two wheel robot is derived using Euler-Lagrange’s method and relation between virtual forces and robot control inputs is defined in order to establish stable desired swarm formation. We analyze two cases of swarm control. In the first case the swarm cohesion is achieved without designated leader by virtual spring damper mesh connecting nearest neighboring robots. In the second case we introduce a swarm leader interacting with nearest and second neighbors allowing the swarm to follow the leader. Numeric simulation results are presented to illustrate the performance of the proposed control method.

6

Method of agents’ state estimation in multiresolution multiagent simulation

Pierzchała D., Czuba P.

Computer Science and Mathematical Modelling

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2018

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No. 8

29--39

EN

The paper proposes the multiagent techniques for approximation of agent’s state in the multiresolution multiagent simulation. The key methods we have used for state aggregation and disaggregation are: consensus algorithm and formation control. The idea of the coordination of multiple agents has emerged from both observation and simulation of a collective behavior of biological entities. The consensus algorithms are commonly used for the cooperative control problems in the multiagent systems, whilst the formation control is the most popular and fundamental motion coordination problem in the multiagent systems, where agents converge to predefined geometric shapes. The presented approach shows that multiagent methods seem to be very promising in multiresolution simulation. Consensus and formation control algorithms remove necessity to specify the much more complex algorithms for the aggregation and disaggregation needs.

PL

W artykule zaproponowano wieloagentowe podejście do wyznaczania stanu agenta w symulacji wielorozdzielczej (o zmiennej rozdzielczości) i wieloagentowej. Dwie kluczowe metody zastosowane do realizacji procesu agregacji i deagregacji stanów to: algorytm konsensusu i kontroli formacji. Idea koordynacji działań wielu agentów wyłoniła się z obserwacji oraz symulacji zbiorowych zachowań żywych istot. Algorytmy konsensusu są powszechnie stosowane w przypadku problemów sterowania kooperacyjnego w systemach wieloagentowych (konsensus oznacza osiągnięcie zgody na temat szczególnej wartości, która jest zależna od stanu wszystkich agentów w sieci). Natomiast kontrola formacji jest najpopularniejszym algorytmem w problemie koordynacji ruchu w systemach wielorobotowych, gdzie musi być spełniony warunek utrzymania predefiniowanego kształtu geometryczne formacji. Przedstawione w artykule podejście pokazuje, że metody wielodyscyplinarne wydają się bardzo obiecujące w symulacji wielorozdzielczej. Algorytmy konsensu i kontroli formacji eliminują konieczność definiowania znacznie bardziej złożonych algorytmów na potrzeby agregacji i deagregacji.

7

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Qian D. W., Tong S. W., Li C. D.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2017

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Vol. 65, nr 1

35--44

EN

This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.

8

Formation control of marine vehicles during replenishment operations

Tobiasz M., Śmierzchalski R.

Studia Informatica : systems and information technology

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2007

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Vol. 2(9)

43--53

EN

Formation control consists in stabilising distances between ships during their motion at the same speed. Due to necessary coordination of motion of the ships, a structure is composed which allows constant distance to be kept between the ships with an assumed accuracy. Formation control makes use of the Leader-Follower algorithm. The steering structure includes the superior formation controller and real-time trajectory controllers. Direct course and speed steering is executed using PD fuzzy controllers. The application of advanced technologies provides opportunities for reducing the number of crew involved in at-sea reloading activities and increasing ship safety during operations of this type.