Time-delay Tolerant Control of an Omnidirectional Multi-agent System for Transport Operations

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI:10.1109/ICSTCC.2018.8540692

J. Alvarez-Muñoz, J. Escareño, F. Méndez-Barrios, I. Boussaada, S. Niculescu, D. Nieto-Hern’andez

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引用次数: 1

Abstract

This paper proposes a solution regarding the general consensus of a multi-agent time-delay system in order to achieve interactive and transport operations. The multi-agent system consists of a set of omni directional mobile robots equipped with vision based systems and interactive tools. It is well known that the vision-based systems and the communication between agents produce time-delays, causing stability issues for consensus and formation control. The present work deals with a high precision consensus by means of a time-delay tolerant control law. First, the mathematical model of every agent is presented. Then, this dynamic model is extended to the set of robots conforming the multi-agent system. After that, a control law, consisting of a time-delay tolerant strategy allows orientation and position consensus. The formulation of a simple algorithm for orientation and position formations for the set of robots is presented. Finally, simulation results validate the proposed control strategy and compare the results when time-delay is present in the system or not for an object transport scenario.

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运输操作全向多智能体系统的时延容忍控制

本文针对多智能体时延系统的一般共识问题，提出了一种解决方案，以实现交互和传输操作。多智能体系统由一组配备基于视觉的系统和交互工具的全方位移动机器人组成。众所周知，基于视觉的系统和智能体之间的通信会产生时滞，从而导致共识和编队控制的稳定性问题。本文利用容时控制律处理高精度一致性问题。首先，给出了每个agent的数学模型。然后，将该动态模型推广到符合多智能体系统的机器人集合。然后，由时滞容忍策略组成的控制律允许方向和位置一致。给出了一套机器人姿态和位置形成的简单算法。最后，仿真结果验证了所提出的控制策略，并比较了在对象传输场景下系统存在时延和不存在时延时的结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)

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