使用屏障Lyapunov功能的多方飞机系统的分布式安全形成跟踪控制
Nargess Sadeghzadeh-Nokhodberiz1, Mohammad Reza Sadeghi1, Rohollah Barzamini2
1Department of Control Engineering, Qom University of Technology, Qom, Iran.
Frontiers in robotics and AI
|July 30, 2024
概括
这项研究引入了一种针对多四旋翼系统的新型分布式控制方案,确保无碰撞的阵列跟踪. 障碍力普诺夫函数 (BLF) 方法提高了机器人机队协调的安全性和效率.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 人工智能的人工智能
背景情况:
- 协调机器人车队的任务需要强大的控制策略.
- 现有的基于共识的方法往往忽略了短暂的碰撞或是计算密集.
- 动态环境对当前的机器人协调技术构成挑战.
研究的目的:
- 开发一个分布式的,无碰撞的多重四旋翼系统的形成跟踪控制方案.
- 解决现有方法关于短暂碰撞和动态障碍的局限性.
- 提高机器人机队运营的安全性和效率.
主要方法:
- 利用屏障莱普诺夫函数 (BLF) 避免碰撞和跟踪形成.
- 在控制器设计的后退框架内制定问题.
- 实施一个分层的控制结构与虚拟输入的虚拟输入,用于低估的四旋翼飞机.
- 用BLF来增强二进制的利亚普诺夫函数,用于控制器设计.
主要成果:
- 导出了一个分布式控制定律,保证了无碰撞的形成跟踪.
- 拟议的方法有效地管理了跟踪和相互间的碰撞避免.
- 与基于优化的技术相比,模拟证明了精度和优异性能.
- 该方法在计算成本,稳定状态错误和响应时间方面具有优势.
结论:
- 拟议的基于BLF的分布式控制方案提供了一个有效的解决方案,用于在多重四旋翼系统中无碰撞的阵列跟踪.
- 这种方法提高了复杂的机器人协调任务的安全性和效率.
- 该方法为现有技术提供了计算效率高,准确的替代方案.
相关概念视频
01:24One-Degree-of-Freedom System
478
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
478
01:22Multi-input and Multi-variable systems
105
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
In the absence...
105
01:17Open and closed-loop control systems
700
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
700
01:24Absolute Motion Analysis- General Plane Motion
218
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
218
01:24Pole and System Stability
268
The transfer function is a fundamental concept representing the ratio of two polynomials. The numerator and denominator encapsulate the system's dynamics. The zeros and poles of this transfer function are critical in determining the system's behavior and stability.
Simple poles are unique roots of the denominator polynomial. Each simple pole corresponds to a distinct solution to the system's characteristic equation, typically resulting in exponential decay terms in the system's...
Simple poles are unique roots of the denominator polynomial. Each simple pole corresponds to a distinct solution to the system's characteristic equation, typically resulting in exponential decay terms in the system's...
268
01:19PID Controller
113
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
113