Region-based flocking control for networked robotic systems with communication delays

Yu, J; Ji, J; Miao, Z; Zhou, J

Region-based flocking control for networked robotic systems with communication delays

Yu, J Ji, J

Miao, Z Zhou, J

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Publisher:: Elsevier
Publication Type:: Journal Article
Citation:: European Journal of Control, 2020, 52, pp. 78-86
Issue Date:: 2020-03-01

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Field	Value	Language
dc.contributor.author	Yu, J
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463
dc.contributor.author	Miao, Z
dc.contributor.author	Zhou, J
dc.date.accessioned	2021-03-19T01:13:47Z
dc.date.available	2021-03-19T01:13:47Z
dc.date.issued	2020-03-01
dc.identifier.citation	European Journal of Control, 2020, 52, pp. 78-86
dc.identifier.issn	0947-3580
dc.identifier.issn	1435-5671
dc.identifier.uri	http://hdl.handle.net/10453/147373
dc.description.abstract	© 2019 European Control Association Based on a self-tuning adaptive control gain technique, this paper proposes a novel adaptive controller to implement the region-based flocking control for the networked robotic systems with communication delays. It is shown that under the proposed control strategy, all the robots can always reach into the objective region, realize velocity matching and ensure collision avoidance, if the network topology graph is connected under certain initial position conditions. Some simulation results are provided to illustrate the effectiveness and robustness of the proposed novel controller.
dc.language	English
dc.publisher	Elsevier
dc.relation.ispartof	European Journal of Control
dc.relation.isbasedon	10.1016/j.ejcon.2019.08.005
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0102 Applied Mathematics, 0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Region-based flocking control for networked robotic systems with communication delays
dc.type	Journal Article
utslib.citation.volume	52
utslib.for	0102 Applied Mathematics
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.consider-herdc	true
dc.date.updated	2021-03-19T01:13:46Z
pubs.publication-status	Published
pubs.volume	52

Abstract:

© 2019 European Control Association Based on a self-tuning adaptive control gain technique, this paper proposes a novel adaptive controller to implement the region-based flocking control for the networked robotic systems with communication delays. It is shown that under the proposed control strategy, all the robots can always reach into the objective region, realize velocity matching and ensure collision avoidance, if the network topology graph is connected under certain initial position conditions. Some simulation results are provided to illustrate the effectiveness and robustness of the proposed novel controller.

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http://hdl.handle.net/10453/147373