scholarly journals Formation Control of Robotic Swarm Using Bounded Artificial Forces

2013 ◽  
Vol 2013 ◽  
pp. 1-15 ◽  
Author(s):  
Long Qin ◽  
Yabing Zha ◽  
Quanjun Yin ◽  
Yong Peng
Keyword(s):  
Formation Control ◽  
Control Algorithm ◽  
Stability And Convergence ◽  
Multirobot Systems ◽  
Convergence Properties ◽  
Swarm Behavior ◽  
Detailed Simulation ◽  
Robotic Swarm ◽  
The Stability ◽  
Significant Attention

Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions.

scholarly journals A New L-Stable Third Derivative Hybrid Method for Solving First Order Ordinary Differential Equations

2021 ◽  
pp. 58-69
Author(s):  
Lawrence Osa Adoghe
Keyword(s):  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Hybrid Method ◽  
Multistep Method ◽  
Stability And Convergence ◽  
Stiff Systems ◽  
Convergence Properties ◽  
Main Method ◽  
The Stability ◽  
Third Derivative

In this paper, an L-stable third derivative multistep method has been proposed for the solution of stiff systems of ordinary differential equations. The continuous hybrid method is derived using interpolation and collocation techniques of power series as the basis function for the approximate solution. The method consists of the main method and an additional method which are combined to form a block matrix and implemented simultaneously. The stability and convergence properties of the block were investigated and discussed. Numerical examples to show the efficiency and accuracy of the new method were presented.

scholarly journals Stability and Convergence of Solutions to Volterra Integral Equations on Time Scales

2015 ◽  
Vol 2015 ◽  
pp. 1-6 ◽  
Author(s):  
Eleonora Messina ◽  
Antonia Vecchio
Keyword(s):  
Integral Equations ◽  
Time Scales ◽  
Sufficient Conditions ◽  
Volterra Integral Equations ◽  
Stability And Convergence ◽  
Time Behavior ◽  
Convergence Properties ◽  
Convergence Of Solutions ◽  
Long Time ◽  
The Stability

We consider Volterra integral equations on time scales and present our study about the long time behavior of their solutions. We provide sufficient conditions for the stability and investigate the convergence properties when the kernel of the equations vanishes at infinity.

Learning Control of Robot Manipulators

1993 ◽  
Vol 115 (2B) ◽  
pp. 402-411 ◽  
Author(s):  
Roberto Horowitz
Keyword(s):  
Adaptive Learning ◽  
Robot Manipulators ◽  
Learning Control ◽  
Integral Transforms ◽  
Stability And Convergence ◽  
Control Algorithms ◽  
Convergence Properties ◽  
Motor Dexterity ◽  
The Stability ◽  
Learning Schemes

Learning control encompasses a class of control algorithms for programmable machines such as robots which attain, through an iterative process, the motor dexterity that enables the machine to execute complex tasks. In this paper we discuss the use of function identification and adaptive control algorithms in learning controllers for robot manipulators. In particular, we discuss the similarities and differences between betterment learning schemes, repetitive controllers and adaptive learning schemes based on integral transforms. The stability and convergence properties of adaptive learning algorithms based on integral transforms are highlighted and experimental results illustrating some of these properties are presented.

scholarly journals Added Mass Effects of Compressible and Incompressible Flows in Fluid-Structure Interaction

2009 ◽  
Vol 76 (2) ◽  
Author(s):  
E. H. van Brummelen
Keyword(s):  
Incompressible Flows ◽  
Fluid Structure Interaction ◽  
Added Mass ◽  
Stability And Convergence ◽  
Time Interval ◽  
Convergence Properties ◽  
Fluid Structure ◽  
Structure Interaction ◽  
Mass Effects ◽  
The Stability

The subiteration method, which forms the basic iterative procedure for solving fluid-structure-interaction problems, is based on a partitioning of the fluid-structure system into a fluidic part and a structural part. In fluid-structure interaction, on short time scales the fluid appears as an added mass to the structural operator, and the stability and convergence properties of the subiteration process depend significantly on the ratio of this apparent added mass to the actual structural mass. In the present paper, we establish that the added-mass effects corresponding to compressible and incompressible flows are fundamentally different. For a model problem, we show that on increasingly small time intervals, the added mass of a compressible flow is proportional to the length of the time interval, whereas the added mass of an incompressible flow approaches a constant. We then consider the implications of this difference in proportionality for the stability and convergence properties of the subiteration process, and for the stability and accuracy of loosely coupled staggered time-integration methods.

Group Regional Consensus of Networked Lagrangian Systems With Input Disturbances

2017 ◽  
Vol 139 (9) ◽  
Author(s):  
Jun Liu ◽  
Zhonghua Miao ◽  
Jinchen Ji ◽  
Jin Zhou
Keyword(s):  
Control Algorithm ◽  
Sufficient Conditions ◽  
Coordinated Control ◽  
Multirobot Systems ◽  
Lagrangian Systems ◽  
Parametric Uncertainties ◽  
Lagrangian Dynamics ◽  
Numerical Examples ◽  
The Stability ◽  
Networked Lagrangian Systems

Networked multirobot systems under the coordinated control can perform tasks more effectively than a group of individually operating robots. This paper studies the group regional consensus of networked multirobot systems (formulated by second-order Lagrangian dynamics) having input disturbances under directed acyclic topology. An adaptive control protocol is designed to achieve group regional consensus of the networked Lagrangian systems with parametric uncertainties for both leader and leaderless cases. Sufficient conditions are established to guarantee group regional consensus for any prior given desired consensus errors. Compared with the existing work, a distinctive feature of the proposed control algorithm is that the stability analysis indicates the global validity of the obtained consensus results. Numerical examples are provided to demonstrate the effectiveness of the proposed scheme.

Carbonation possibilities of Steel slags -- a review

2021 ◽  
Author(s):  
Raghavendra Ragipani ◽  
Sankar Bhattacharya ◽  
Akkihebbal K. Suresh
Keyword(s):  
Carbon Dioxide ◽  
Time Scales ◽  
Carbon Dioxide Sequestration ◽  
Mineral Carbonation ◽  
Geological Time ◽  
The Stability ◽  
Significant Attention

Research pertaining to carbon dioxide sequestration via mineral carbonation has gained significant attention, primarily due to the stability of sequestered \ce{CO2} over geological time scales. Use of industry-derived alkaline wastes...

scholarly journals Formation Control of Unmanned Vessels with Saturation Constraint and Extended State Observation

2021 ◽  
Vol 9 (7) ◽  
pp. 772
Author(s):  
Huixuan Fu ◽  
Shichuan Wang ◽  
Yan Ji ◽  
Yuchao Wang
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Tracking Error ◽  
External Environment ◽  
Control Force ◽  
Extended State ◽  
Parameter Perturbation ◽  
State Observation ◽  
Saturation Constraint ◽  
The Stability

This paper addressed the formation control problem of surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances. A formation control method based on the control force saturation constraint and the extended state observer (ESO) was proposed. Compared with the control methods which only consider the disturbances from external environment, the method proposed in this paper took model uncertainties, parameter perturbation, and external environment disturbances as the compound disturbances, and the ESO was used to estimate and compensate for the disturbances, which improved the anti-disturbance performance of the controller. The formation controller was designed with the virtual leader strategy, and backstepping technique was designed with saturation constraint (SC) function to avoid the lack of force of the actuator. The stability of the closed-loop system was analyzed with the Lyapunov method, and it was proved that the whole system is uniformly and ultimately bounded. The tracking error can converge to arbitrarily small by choosing reasonable controller parameters. The comparison and analysis of simulation experiments showed that the controller designed in this paper had strong anti-disturbance and anti-saturation performance to the compound disturbances of vessels and can effectively complete the formation control.

Sign in / Sign up

Export Citation Format

Share Document