Zhaoyan Wang, Hengyu Li, Jun Liu, Tiehui Zhang, Xinru Ma, Shaorong Xie, Jun Luo
{"title":"Static group-bipartite consensus in networked robot systems with integral action","authors":"Zhaoyan Wang, Hengyu Li, Jun Liu, Tiehui Zhang, Xinru Ma, Shaorong Xie, Jun Luo","doi":"10.1177/17298806231177148","DOIUrl":null,"url":null,"abstract":"With the increasing complexity of modern industry, the traditional single-target control of swarm robots can no longer meet application requirements. Hence, this article addresses compound task control for swarm robot systems, where the control aim and the dynamics of the robot are modeled by static group-bipartite consensus and Euler–Lagrange systems, respectively. After introducing the concept of static group-bipartite consensus in networked Euler–Lagrange systems, a distributed group-bipartite consensus control protocol with integral action is designed, and the criterion that ensures that static group-bipartite consensus is reached is presented. The most remarkable feature of the proposed algorithm is that it can accurately calculate the final state of system convergence. Finally, simulation examples are presented to verify the theoretical results.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3000,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Advanced Robotic Systems","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1177/17298806231177148","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"Computer Science","Score":null,"Total":0}
引用次数: 1
Abstract
With the increasing complexity of modern industry, the traditional single-target control of swarm robots can no longer meet application requirements. Hence, this article addresses compound task control for swarm robot systems, where the control aim and the dynamics of the robot are modeled by static group-bipartite consensus and Euler–Lagrange systems, respectively. After introducing the concept of static group-bipartite consensus in networked Euler–Lagrange systems, a distributed group-bipartite consensus control protocol with integral action is designed, and the criterion that ensures that static group-bipartite consensus is reached is presented. The most remarkable feature of the proposed algorithm is that it can accurately calculate the final state of system convergence. Finally, simulation examples are presented to verify the theoretical results.
期刊介绍：
International Journal of Advanced Robotic Systems (IJARS) is a JCR ranked, peer-reviewed open access journal covering the full spectrum of robotics research. The journal is addressed to both practicing professionals and researchers in the field of robotics and its specialty areas. IJARS features fourteen topic areas each headed by a Topic Editor-in-Chief, integrating all aspects of research in robotics under the journal''s domain.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
