Adaptive swarm control for high-order self-organized system with unknown heterogeneous nonlinear dynamics and unmeasured states

Xu, Hao; Li, Shengjin; Yu, Dengxiu; Chen, C.L.Philip; Li., Tieshan

doi:10.1016/j.neucom.2021.01.069

Cited by 12 publications

(4 citation statements)

References 36 publications

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“…This experiment develops two real robots covering 50 discrete clients 1 . We set up a camera in our lab and leverage the software WhyCon [35] (WhyCon is a vision-based localization system that can be used with low-cost web cameras and achieves millimetre precision with very high performance) to provide a precise location of robot and create a two-dimensional coordinate system in the field of view of the camera.…”

Section: Methodsmentioning

confidence: 99%

“…In order to make the robot efficiently reach the optimal location computed from ( 5)-( 6), the fixed-time control theory is introduced in the following, FIGURE 2 The red trajectory is the expected trajectory of the robot from [2,2] to [1,1]. The purple trajectory is the robot driven by the PID controller.…”

Section: State Regulator Using Fixed-time Control Lawmentioning

confidence: 99%

“…Recent years have witnessed the rapid development of coverage control as one of the most important research in multi-robots because of its wide application in military, research and rescue mission, environmental monitoring, space exploration, and so on [1][2][3]. The basic meaning of coverage control is that the robots could be well-deployed in their dominant region given the detected distribution of clients, such that robots could efficiently provide their services to the clients according to some predefined metrics (e.g., Euclidean distance).…”

Section: Introductionmentioning

confidence: 99%

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Time‐sensitive coverage control for non‐holonomic and heterogeneous robots: An extremum seeking framework and application

Zhang

Deng

Zhou

et al. 2023

IET Control Theory & Appl

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This work addresses a time‐sensitive coverage control problem for multiple non‐holonomic mobile robots. The coverage objective is evaluated by the total arrivial time of robots reaching their dominant clients with the predefined constant but heterogeneous velocities. An extremum‐seeking control framework is proposed, including a numerical optimizer that iteratively produces the optimal waypoints of robots minimizing the total arriving time and a state regulator that drives the robot's positions to the optimal locations under both constraints non‐holonomic kinematic model and the constant‐velocity. An improved K‐means algorithm is first designed to produce the waypoint sequence. A theoretical analysis of the convergence of coverage objectives is provided. Then a fixed‐time state regulator for the robot's angular velocity is derived from regulating robot positions to the desired waypoints within each time step that varies with the heterogeneous traversing velocity and the distance between waypoints. Finally, the results are validated by a virtual robotic simulation platform and the experiment on real robots, showing that the proposed methods can efficiently deploy multiple heterogeneous robots for time‐sensitive services to clients with a discrete distribution. The simulation and experimental code are open‐sourced at https://gitee.com/ahu‐icip/simulation.git.

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Section: Methodsmentioning

confidence: 99%

Section: State Regulator Using Fixed-time Control Lawmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Time‐sensitive coverage control for non‐holonomic and heterogeneous robots: An extremum seeking framework and application

Zhang

Deng

Zhou

et al. 2023

IET Control Theory & Appl

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“…Therefore, the aforementioned demanding problems of spacecraft attitude control 3 provoked a range of profound considerations. In recent decades, to achieve rapid maneuvering, flexible tracking, high-precision pointing, and other desired performances, numerous control strategies are proposed to accurately provide corresponding attitude changes, such as the adaptive control, 4,5 backstepping control, 6,7 fault-tolerant control (FTC), [8][9][10] and disturbance observer (DO)-based control. 11 For the purpose of eliminating the influence of the unknown nonlinearities and uncertainties, [12][13][14][15] extensive researches have been carried out by scholars.…”

Section: Introductionmentioning

confidence: 99%

Fixed-time fuzzy disturbance observer–based adaptive integral sliding-mode spacecraft attitude control under time-varying output constraints

Zhu,

Ning,

Wang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article proposes a fixed-time fuzzy disturbance observer–based adaptive integral sliding-mode spacecraft control scheme with consideration of input uncertainties and unknown nonlinearities. First, for the purpose of satisfying the time-varying output constraints and simplifying the computational process, an error transformation function is employed to convert the constrained spacecraft system into an unconstrained one. Second, to ensure superior transient-state performance, an improved sliding manifold integrated with a nonlinear function is designed. Then, for accurately estimating the external disturbances, a fixed-time fuzzy disturbance observer is proposed. Furthermore, the unknown nonlinearities and the input uncertainties are handled by several adaptive laws. The simulation results are presented to verify the superiority and effectiveness of the proposed fixed-time fuzzy disturbance observer–based adaptive integral sliding-mode control scheme.

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RL-based adaptive control for a class of non-affine uncertain stochastic systems with mismatched disturbances

Wang,

Chang,

Qiu

et al. 2024

Communications in Nonlinear Science and Numerical Simulation

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Adaptive swarm control for high-order self-organized system with unknown heterogeneous nonlinear dynamics and unmeasured states

Cited by 12 publications

References 36 publications

Time‐sensitive coverage control for non‐holonomic and heterogeneous robots: An extremum seeking framework and application

Time‐sensitive coverage control for non‐holonomic and heterogeneous robots: An extremum seeking framework and application

Fixed-time fuzzy disturbance observer–based adaptive integral sliding-mode spacecraft attitude control under time-varying output constraints

RL-based adaptive control for a class of non-affine uncertain stochastic systems with mismatched disturbances

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