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Formation control of underwater vehicles using Multi Agent System

100%

Das B. , Subudhi B. , Pati B. B.

tom Vol. 30, No. 2

365--384

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.

Formation control of underwater vehicles using Multi Agent System

86%

Das B. , Subudhi B. , Pati B. B. , Das B. , Subudhi B. , Pati B. B.

tom 30

nr 2

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

72%

Damani A. Y. , Benselama Z. A. , Hedjar R.

Archive of Mechanical Engineering

2023

tom LXX, nr 4

567–-587

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.

Method of agents’ state estimation in multiresolution multiagent simulation

72%

Pierzchała D. , Czuba P.

tom No. 8

29--39

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.

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.