Formation constrained coordinated motion control methods for the crustal movement simulation system

Crustal movement modeling and analysis is one of the major tasks in the earth system science. In this paper, a distributed system for simulating the crustal movement was developed. The crustal movement simulation system (CMSS) is designed based on multi-agent system (MAS). Such a simulation system is composed by a number of independently controlled parallel robots, and each robot represents a crustal plate. To achieve smooth and accurate motion without slipping and sliding, realtime coordinate control of the multi-agent system is essential. Based on the MAS, a general approach for formation constrained coordinated motion control scheme is proposed. The feasibility and effectiveness of the network-based MAS control method is verified through simulation.