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Research on Cooperative Control and Analysis of Stability for Multi-Agent Robots

Author: YuHui
Tutor: WangYongZuo
School: Huazhong University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Multi-Agent Cluster movement Coherence To the network Undirected networks Switching networks Algebraic graph theory
CLC: TP242
Type: PhD thesis
Year: 2007
Downloads: 1219
Quote: 8
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Abstract


The collection of multi-agent robot movement problem has aroused great interest of researchers in different fields. From physics and biology to computer science, to control science, scientists are trying to figure out, independent movement of organisms, such as birds, fish, bacteria group, crowd, or artificial autonomous mobile agent, how can no the case of centralized coordination by the local coordination gathered into a formation. This is mainly due to the multi-agent robot system in UAV coordination control, multi-robot formation control, multi-agent cluster movement, widely used distributed sensor networks, satellite constellation pose alignment and communication network congestion control field. This paper studies the multi-agent robot the cluster motion control, nonlinear model of consistency, multi-robot formation of multi-agent robot. The details are as follows: follow the leader of quadratic integral dynamic model of smart groups made the formation of the cluster movement. Proposed a class of control rules, through the establishment of the graph theory model of of intelligent group interaction or communication, smart groups follow the leader made cluster movement. Stability analysis using Lyapunov stability theory and the theory of non-smooth analysis in fixed and dynamic network topology, respectively. Having a second integral dynamic smart groups, was carried out in the network to obtain the cluster movement. A decentralized control method for distributed control of the smart groups. The theoretical analysis shows that weak connectivity and a directed graph called equilibrium diagram to diagram plays a key role in the stability analysis of the system. Made smart groups in high-dimensional space with a dynamic model of the particle cluster movement. Four different control rules based on the intelligent groups of two different center (the center of mass and center of gravity) smart groups made the formation of cluster movement. The first two control rules based on intelligent groups centroid, and the remaining two are based on the geometric center of the intelligent group. Smooth adjacency matrix and smooth potential field function is introduced to overcome the difficulties of the theoretical analysis. Under some reasonable assumptions, theoretically able to establish the stability of the system, namely: gather, to avoid the collision, speed matching. The weighted average of the consistency of the new concept. First, to the dynamic network of multi-agent no global weighted average of the consistency of the study, linear and nonlinear distributed the coordination control rules to enable multi-agent system achieved a weighted average consistency. Second, to the consistency of the network of multi-agent. Decentralized coordination controller based on a class of multi-agent network globally asymptotically weighted average consistency achieved in fixed and switching network topologies. Theoretically proved to strong connectivity of the network and a class called equilibrium diagram to diagram plays a key role in solving the weighted average consistency problem. The Vicsek model further discussion. First of all, the multi-agent research to obtain the asymptotic consistency to the network. Proposed new rules - N close neighbor of the rules, coordination of multi-agent based N - nearest neighbor rules, the application of distributed controllers achieve asymptotic consistency makes multi-agent network. Second, based on a simplified Vicsek model, a collection of autonomous mobile multi-robot movement. Given autonomous mobile multi-robot collection of dynamic behavior of the network, a qualitative analysis based on the nearest neighbor rule. A necessary and sufficient graph conditions for multi-robot motion direction converge to the same direction. Interconnection graph has a globally reachable node in the convergence analysis of the system plays a key role. Further, if the globally reachable node adjacent members, as a special case, the node acts as the group's leader. Multi-robot formation of a non-linear model. A nonlinear sliding mode controller, to coordinate a group of nonholonomic mobile robots to obtain the desired formation. Proved theoretically that under reasonable assumptions, there asymptotic stability of the robot formation in the case of bounded disturbances, the sliding mode controller that makes the error of the relative distance and azimuth error and the direction of motion error asymptotically stable.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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