Control Design for Artificial Swarm Mechanical Systems: Dynamics,Uncertainty, and Constraint |
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| Authors: | Xiaomin Zhao Ye‐Hwa Chen Han Zhao Fangfang Dong |
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| Affiliation: | 1. School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China;2. The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, USA;3. School of Mechanical Engineering, Hefei University of Technology, Hefei, China |
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| Abstract: | We consider an artificial swarm system consisting of multiple agents. The agents influence each other through the attraction/repulsion, which is related to the relative positions among them. Here the collective behavior of the agents mimics some biological swarm systems. The dynamic model for each agent is built by taking the uncertainty into account. Based on the dynamic model, we propose three types adaptive robust controls, including switching type, non‐switching type and fractional type, for each agent. The control design weaves together several intrinsic features of kinematics, dynamics, d'Alembert's principle, constraint, and uncertainty. |
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| Keywords: | Swarm system multi‐agent system mechanical system constraint adaptive robust control |
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