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Cooperative convex control of multiagent systems applied to differential drive robots

López-Estrada Francisco-Ronay, Darias Helen, Puig Vicenç, Valencia-Palomo Guillermo, Domínguez-Zenteno Joaquín, Guerrero-Sánchez María-Eusebia

International Journal of Applied Mathematics and Computer Science

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2024

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Vol. 34, no. 2

199--210

EN

This work proposes a convex cooperative control scheme for a multiagent system of differential mobile robots in a leader-follower formation. First, the kinematic model of the differential robots is obtained in a linear parameter varying representation. Next, a reference model approach is considered to track the desired trajectory. The paper’s contribution is then to derive conditions to guarantee the convergence of the convex controller, which is achieved using a non-quadratic Lyapunov function. Subsequently, this control law is integrated into the agent that leads a distributed control protocol based on graph theory designed to reach the consensus of the followers. Simulations of five mobile robots are performed to illustrate the effectiveness of the proposed method.

2

Control of electric drive tugboat autonomous formation

Koznowski W., Łebkowski A.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2023

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Vol. 17 No. 2

391--396

EN

The automation of maritime transport is an indispensable trend towards full autonomy of maritime vessels. In this paper, an attempt was made to present the control system for port autonomous vessels using an agent system. On the basis of the conducted research, in order to optimize the energy consumption related to the movement of tugboats, the shape of the hull and the shape of the formation in which 4 tugboats are moving were selected. Several scenarios of navigational situations that may take place in port waters have been recognized. The conducted analysis have shown that the optimal shape of the hull of tugboats, the shape of the formation in which they move, as well as the determination of the passage route for the implementation of a specific task, can contribute to reducing both the carbon footprint and the energy consumption of the propulsion systems of tugboats. This is of significant importance in terms of reducing exhaust gas emissions in and around ports.

3

Event-triggered cooperative control for high-order nonlinear multi-agent systems with finite-time consensus

Gong Shiyin, Zheng Meirong, Hu Jing, Zhang Anguo

International Journal of Applied Mathematics and Computer Science

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2023

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Vol. 33, no. 3

439--448

EN

An event-triggered adaptive control algorithm is proposed for cooperative tracking control of high-order nonlinear multiagent systems (MASs) with prescribed performance and full-state constraints. The algorithm combines dynamic surface technology and the backstepping recursive design method, with radial basis function neural networks (RBFNNs) used to approximate the unknown nonlinearity. The barrier Lyapunov function and finite-time stability theory are employed to prove that all agent states are semi-globally uniform and ultimately bounded, with the tracking error converging to a bounded neighborhood of zero in a finite time. Numerical simulations are provided to demonstrate the effectiveness of the proposed control scheme.

4

Neuro-adaptive cooperative control for high-order nonlinear multi-agent systems with uncertainties

Peng Cheng, Zhang Anguo, Li Junyu

International Journal of Applied Mathematics and Computer Science

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2021

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Vol. 31, no. 4

635--645

EN

The consensus problem for a class of high-order nonlinear multi-agent systems (MASs) with external disturbance and system uncertainty is studied. We design an online-update radial basis function (RBF) neural network based distributed adaptive control protocol, where the sliding model control method is also applied to eliminate the influence of the external disturbance and system uncertainty. System consensus is verified by using the Lyapunov stability theorem, and sufficient conditions for cooperative uniform ultimately boundedness (CUUB) are also derived. Two simulation examples demonstrate the effectiveness of the proposed method for both homogeneous and heterogeneous MASs.