scholarly journals Design of Command Limiting Control Law Using Exponential Potential Functions

2020 ◽  
pp. 1-8
Author(s):  
Donglei Sun ◽  
Naira Hovakimyan ◽  
Hamidreza Jafarnejadsani
Keyword(s):  
Potential Functions ◽  
Control Law ◽  
Exponential Potential

scholarly journals Flocking Control of Mobile Robots with Obstacle Avoidance Based on Simulated Annealing Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Jin Cheng ◽  
Bin Wang
Keyword(s):  
Simulated Annealing ◽  
Mobile Robots ◽  
Motion Control ◽  
Simulated Annealing Algorithm ◽  
Control Method ◽  
Sampling Period ◽  
Potential Functions ◽  
Control Law ◽  
Optimal Position ◽  
Annealing Algorithm

Flocking control problem of mobile robots under environment with unknown obstacles is addressed in this paper. Based on the simulated annealing algorithm, a flocking behaviour for mobile robots is achieved which converges to alignment while avoiding obstacles. Potential functions are designed to evaluate the positional relationship between robots and obstacles. Unlike the existing analytical method, simulated annealing algorithm is utilized to search the quasi-optimal position of robots in order to reduce the potential functions. Motion control law is designed to drive the robot move to the desired position at each sampling period. Experiments are implemented, and the results illustrate the effectiveness of the proposed flocking control method.

Spacecraft control with constrained fast reorientation and accurate pointing

2004 ◽  
Vol 108 (1080) ◽  
pp. 85-91 ◽  
Author(s):  
G. Mengali ◽  
A. A. Quarta
Keyword(s):  
Attitude Control ◽  
Large Angle ◽  
Potential Functions ◽  
Gas Jet ◽  
Solar Array ◽  
Control Law ◽  
Continuous Control ◽  
Large Space ◽  
Spacecraft Control

AbstractIn this paper we study large angle rotational manoeuvres of spacecraft. The problem of attitude control is formulated and solved through potential functions, thus simplifying frequent reorientation manoeuvres. A combination of gas jet and FEEP thrusters is employed in order to obtain short settling times while meeting stringent pointing requirements. In this way, spacecraft reorientation is achieved in two integrated steps by means of a discrete/continuous control law. Autonomous avoidance of undesired space orientations is obtained and constraints due to the solar array pointing requirements are satisfied. A case study is discussed where the methodology is applied to a large space telescope.

Rigidity-Based Stabilization of Multi-Agent Formations

2013 ◽  
Vol 136 (1) ◽  
Author(s):  
Xiaoyu Cai ◽  
Marcio de Queiroz
Keyword(s):  
Formation Control ◽  
Potential Functions ◽  
Control Law ◽  
Multi Agent Systems ◽  
Rigidity Matrix ◽  
Agent Model ◽  
Multi Agent ◽  
Error Dynamics ◽  
Integrator Model ◽  
Double Integrator

This paper is concerned with the decentralized formation control of multi-agent systems moving in the plane using rigid graph theory. Using a double-integrator agent model (as opposed to the simpler, single-integrator model), we propose a new control law to asymptotically stabilize the interagent distance error dynamics. Our approach uses simple backstepping and Lyapunov arguments. The control, which is explicitly dependent on the rigidity matrix of the undirected graph that models the formation, is derived for a class of potential functions. Specific potential functions are then used as a demonstration inclusive of simulation results.

Sign in / Sign up

Export Citation Format

Share Document