A generalized homogeneity-based formation control for perturbed unicycle multi-agent systems

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-08-22 DOI:10.1016/j.conengprac.2024.106047

Min Li , Héctor Ríos , Susana V. Gutiérrez–Martínez , Andrey Polyakov , Gang Zheng , Alejandro Dzul

引用次数: 0

Abstract

In this paper, the formation control problem is considered for unicycle multi-agent systems whose kinematic models contain some external perturbations. The approach to addressing the problem involves the development of a homogeneity-based leader–follower formation control protocol, which takes into account bounded perturbations. It is shown that such a control protocol can be obtained if there is an external supervisor monitoring the group and broadcasting a limited amount of data to followers. Simulations as well as experimental results are performed to illustrate the effectiveness of the proposed control protocol using the QBot2 unicycle mobile robot.

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基于广义同质性的扰动单轮多代理系统编队控制

本文研究了单车多机器人系统的编队控制问题，该系统的运动学模型包含一些外部扰动。解决该问题的方法包括制定一个基于同质性的领导者-追随者编队控制协议，该协议考虑了有界扰动。研究表明，如果有一个外部监督者对群体进行监控，并向追随者广播有限的数据，就可以得到这样的控制协议。仿真和实验结果以 QBot2 独轮车移动机器人为例，说明了所提控制协议的有效性。

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

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.