Decentralized Robust Connectivity Control in Flocking of Multi-Robot Systems
In this paper, a global connectivity control method for decentralized multi-robot systems is proposed. This method can achieve decentralized connectivity control of multi-robot network under disturbances, which has no effect on the objective flocking control. Based on the gradient between the connec...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9107076/ |
| _version_ | 1818664360487157760 |
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| author | Kai Li Ruiyan Gong Sentang Wu Changqing Hu Ying Wang |
| author_facet | Kai Li Ruiyan Gong Sentang Wu Changqing Hu Ying Wang |
| author_sort | Kai Li |
| collection | DOAJ |
| description | In this paper, a global connectivity control method for decentralized multi-robot systems is proposed. This method can achieve decentralized connectivity control of multi-robot network under disturbances, which has no effect on the objective flocking control. Based on the gradient between the connectivity and robot positions, the proposed connectivity control method can make each robot move along the desired gradient direction, so as to achieve the control of the global connectivity. Indeed, the flocking method based on the potential of attraction and repulsion can ensure that the distance between robots is stable within the desired range. Then the security of flocking and the stability of communication are guaranteed. It is proved in this paper that both connectivity and objective flocking control have no effect on the stability of each other, under the condition that both controllers are bounded. Therefore, the global connectivity and configuration of the system can achieve the desired states. In addition, a robust control method based on integral sliding mode is designed in this paper, which can counteract the external disturbance and ensure the ideal dynamics of multi-robot systems. Finally, several numerical simulations are given to validate the effectiveness of the proposed control methods. |
| first_indexed | 2024-12-17T05:31:30Z |
| format | Article |
| id | doaj.art-94fcf9afdef74b0a8fa4cb76b2dcb6df |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-17T05:31:30Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-94fcf9afdef74b0a8fa4cb76b2dcb6df2022-12-21T22:01:43ZengIEEEIEEE Access2169-35362020-01-01810525010526210.1109/ACCESS.2020.29996449107076Decentralized Robust Connectivity Control in Flocking of Multi-Robot SystemsKai Li0https://orcid.org/0000-0002-8962-2644Ruiyan Gong1Sentang Wu2https://orcid.org/0000-0003-3662-2795Changqing Hu3Ying Wang4School of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaBeijing Institute of Aerospace Control Devices, Beijing, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing, ChinaBeijing Institute of Aerospace Control Devices, Beijing, ChinaChinese Academy of Surveying and Mapping, Beijing, ChinaIn this paper, a global connectivity control method for decentralized multi-robot systems is proposed. This method can achieve decentralized connectivity control of multi-robot network under disturbances, which has no effect on the objective flocking control. Based on the gradient between the connectivity and robot positions, the proposed connectivity control method can make each robot move along the desired gradient direction, so as to achieve the control of the global connectivity. Indeed, the flocking method based on the potential of attraction and repulsion can ensure that the distance between robots is stable within the desired range. Then the security of flocking and the stability of communication are guaranteed. It is proved in this paper that both connectivity and objective flocking control have no effect on the stability of each other, under the condition that both controllers are bounded. Therefore, the global connectivity and configuration of the system can achieve the desired states. In addition, a robust control method based on integral sliding mode is designed in this paper, which can counteract the external disturbance and ensure the ideal dynamics of multi-robot systems. Finally, several numerical simulations are given to validate the effectiveness of the proposed control methods.https://ieeexplore.ieee.org/document/9107076/Multi-robot systemsdistributed estimationglobal connectivity controlpotential energy functionrobust control |
| spellingShingle | Kai Li Ruiyan Gong Sentang Wu Changqing Hu Ying Wang Decentralized Robust Connectivity Control in Flocking of Multi-Robot Systems IEEE Access Multi-robot systems distributed estimation global connectivity control potential energy function robust control |
| title | Decentralized Robust Connectivity Control in Flocking of Multi-Robot Systems |
| title_full | Decentralized Robust Connectivity Control in Flocking of Multi-Robot Systems |
| title_fullStr | Decentralized Robust Connectivity Control in Flocking of Multi-Robot Systems |
| title_full_unstemmed | Decentralized Robust Connectivity Control in Flocking of Multi-Robot Systems |
| title_short | Decentralized Robust Connectivity Control in Flocking of Multi-Robot Systems |
| title_sort | decentralized robust connectivity control in flocking of multi robot systems |
| topic | Multi-robot systems distributed estimation global connectivity control potential energy function robust control |
| url | https://ieeexplore.ieee.org/document/9107076/ |
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