A control-design-based solution to robotic ecology: Autonomy of achieving cooperative behavior from a high-level astronaut command

    Authors

    J. Wang; Z. H. Qu; C. M. Ihlefeld;R. A. Hull

    Comments

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    Abbreviated Journal Title

    Auton. Robot.

    Keywords

    cooperative control; consensus problem; multiple dynamical systems; time-varying communication networks; stability analysis; MOBILE; STRATEGIES; AGENTS; Computer Science, Artificial Intelligence; Robotics

    Abstract

    In this paper, we propose a cooperative control strategy for a group of robotic vehicles to achieve the specified task issued from a high-level astronaut command. The problem is mathematically formulated as designing the cooperative control for a general class of multiple-input-multiple-output (MIMO) dynamical systems in canonical form with arbitrary but finite relative degrees such that the outputs of the overall system converge to the explicitly given steady state. The proposed cooperative control for individual vehicle only need to use the sensed and communicated outputs information from its local neighboring vehicles. No fixed leader and time-invariant communication networks are assumed among vehicles. Particularly, a set of less-restrictive conditions on the connectivity of the sensor/communication networks are established, under which it is rigorously proven by using the newly found nice properties of the convergence of sequences of row stochastic matrices that the cooperative objective of the overall system can be achieved. Simulation results for a group of vehicles achieving a target and surrounding a specified object in formation are provided to support the proposed approach in this paper.

    Journal Title

    Autonomous Robots

    Volume

    20

    Issue/Number

    2

    Publication Date

    1-1-2006

    Document Type

    Article

    Language

    English

    First Page

    97

    Last Page

    112

    WOS Identifier

    WOS:000237210400003

    ISSN

    0929-5593

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