Cooperative control of multi-robot system
The technology development that came along in the last century with the advent of wireless communication brought a breadth of innovation and provided ways to efficiently share information between systems. This project studies several finite time consensus control algorithms for multi-robot system an...
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| Other Authors: | |
| Format: | Final Year Project (FYP) |
| Language: | English |
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2009
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| Online Access: | http://hdl.handle.net/10356/15798 |
| _version_ | 1826116677832540160 |
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| author | Xu, Cong. |
| author2 | Xie Lihua |
| author_facet | Xie Lihua Xu, Cong. |
| author_sort | Xu, Cong. |
| collection | NTU |
| description | The technology development that came along in the last century with the advent of wireless communication brought a breadth of innovation and provided ways to efficiently share information between systems. This project studies several finite time consensus control algorithms for multi-robot system and presents simulation in Matlab environment.
First, Wei’Ren’s distributed consensus control [3] and S. Mastellone’s non-centralized algorithm [4] are reviewed. Also, S. Mastellone’s algorithm is studied in detail and the assumptions are discussed. Then the Matlab simulation of S. Mastellone’s algorithm is carried out and shows well consensus control. Last, LabVIEW programs are written to send and retrieve data in multi-robot system for the SIMTech project. |
| first_indexed | 2024-10-01T04:15:18Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/15798 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:15:18Z |
| publishDate | 2009 |
| record_format | dspace |
| spelling | ntu-10356/157982019-12-10T13:03:15Z Cooperative control of multi-robot system Xu, Cong. Xie Lihua School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics The technology development that came along in the last century with the advent of wireless communication brought a breadth of innovation and provided ways to efficiently share information between systems. This project studies several finite time consensus control algorithms for multi-robot system and presents simulation in Matlab environment. First, Wei’Ren’s distributed consensus control [3] and S. Mastellone’s non-centralized algorithm [4] are reviewed. Also, S. Mastellone’s algorithm is studied in detail and the assumptions are discussed. Then the Matlab simulation of S. Mastellone’s algorithm is carried out and shows well consensus control. Last, LabVIEW programs are written to send and retrieve data in multi-robot system for the SIMTech project. Bachelor of Engineering 2009-05-15T06:53:32Z 2009-05-15T06:53:32Z 2009 2009 Final Year Project (FYP) http://hdl.handle.net/10356/15798 en Nanyang Technological University 42 p. application/msword |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Xu, Cong. Cooperative control of multi-robot system |
| title | Cooperative control of multi-robot system |
| title_full | Cooperative control of multi-robot system |
| title_fullStr | Cooperative control of multi-robot system |
| title_full_unstemmed | Cooperative control of multi-robot system |
| title_short | Cooperative control of multi-robot system |
| title_sort | cooperative control of multi robot system |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | http://hdl.handle.net/10356/15798 |
| work_keys_str_mv | AT xucong cooperativecontrolofmultirobotsystem |