Group-weighted oscillatory containment for multiple robots under heterogeneous cooperation and competition

IF 2.2 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS IET Control Theory and Applications Pub Date : 2024-05-29 DOI:10.1049/cth2.12674

L. Y. Zhao, Y. Ren, W. Li, P. Liang

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Abstract

The group-weighted containment (GWC) problem is studied for swarms of robots, where the information flow among agents is heterogeneous (weighted) cooperative-competitive and the whole networked systems are composed of multiple different groups. Each group is formed by multiple harmonic oscillator leaders and multiple robot followers governed by Euler-Lagrange (EL) equations. After introducing the definition of group-weighted containment to the networked robot systems, the control algorithms for the agents containing followers and leaders are formulated over newly weighted cooperative-competitive network. Some necessary conditions for solving the weighted containment control problem are established. It is shown that the followers in every group can achieve a kind of novel coordinated behaviors. Specifically, the followers can converge to the dynamic convex hull spanned by the corresponding leaders' weighted coordinates under some conditions. Simulation results are provided to illustrate the effectiveness of the proposed control schemes.

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异质合作与竞争条件下多机器人的群体加权振荡控制

研究了机器人群的群加权遏制（GWC）问题，其中代理之间的信息流是异质（加权）合作竞争的，整个网络系统由多个不同的群组成。每个群由多个谐波振荡器领导者和多个受欧拉-拉格朗日（EL）方程控制的机器人追随者组成。在将组加权包含定义引入网络机器人系统后，在新的加权合作竞争网络上制定了包含跟随者和领导者的代理控制算法。建立了解决加权包含控制问题的一些必要条件。结果表明，每组中的追随者都能实现一种新的协调行为。具体来说，在某些条件下，追随者可以收敛到相应领导者加权坐标所跨的动态凸壳。仿真结果说明了所提控制方案的有效性。

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来源期刊

IET Control Theory and Applications 工程技术-工程：电子与电气

CiteScore

5.70

自引率

7.70%

发文量

167

审稿时长

5.1 months

期刊介绍： IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.