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Observer-based consensus of networked thrust-propelled vehicles with directed graphs.

Weiye Cang1, Zhongkui Li1, Hanlei Wang2

  • 1State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science,College of Engineering, Peking University, Beijing 100871, China.

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|April 20, 2017
PubMed
Summary
This summary is machine-generated.

This study introduces observer-based consensus protocols for networked underactuated thrust-propelled vehicles (TPVs). These methods achieve coordinated control without needing velocity or acceleration data, even with communication delays.

Keywords:
Communication delaysConsensusCooperative controlThrust-propelled vehicles

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Area of Science:

  • Robotics
  • Control Systems
  • Networked Systems

Background:

  • Underactuated thrust-propelled vehicles (TPVs) present unique control challenges in networked environments.
  • Achieving consensus (coordinated behavior) in these systems is crucial for applications like formation control and distributed tasks.
  • Existing consensus protocols often require direct measurements of translational velocities and accelerations, which may not be feasible.

Purpose of the Study:

  • To develop novel distributed observer-based consensus protocols for networked underactuated TPVs.
  • To eliminate the need for translational velocity and acceleration measurements in consensus control.
  • To analyze the conditions for achieving consensus in the presence of communication delays.

Main Methods:

  • Design of distributed observer-based consensus protocols tailored for underactuated TPVs.
  • Application of input-output analysis to derive consensus conditions.
  • Consideration of communication delays within the network topology.

Main Results:

  • Necessary and sufficient conditions for achieving consensus are established.
  • Protocols are shown to be effective both with and without constant communication delays.
  • The requirement of a directed spanning tree in the communication graph for consensus is confirmed.

Conclusions:

  • The proposed observer-based protocols effectively solve the consensus problem for networked underactuated TPVs.
  • The developed control schemes are robust to communication delays.
  • Simulation results validate the practical applicability and effectiveness of the proposed control strategies.