Bipartite Consensus Control for a Swarm of Robots

Liu, J; Li, H; Ji, J; Luo, J

Bipartite Consensus Control for a Swarm of Robots

Liu, J Li, H Ji, J

Luo, J

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Publisher:: ASME
Publication Type:: Journal Article
Citation:: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 2021, 143, (1)
Issue Date:: 2021-01-01

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Field	Value	Language
dc.contributor.author	Liu, J
dc.contributor.author	Li, H
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463
dc.contributor.author	Luo, J
dc.date.accessioned	2022-03-29T21:18:20Z
dc.date.available	2022-03-29T21:18:20Z
dc.date.issued	2021-01-01
dc.identifier.citation	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 2021, 143, (1)
dc.identifier.issn	0022-0434
dc.identifier.issn	1528-9028
dc.identifier.uri	http://hdl.handle.net/10453/155674
dc.description.abstract	This paper studies the bipartite consensus problem of a swarm of robots whose dynamics are formulated by Lagrangian equations. Two distributed bipartite consensus control protocols are proposed for a swarm of robots without a leader or with a virtual leader. For the nonleader case, the networked Lagrangian system can reach static bipartite consensus under the control protocol developed, and the final convergent states can be explicitly determined by the specific structure of the Laplacian matrix associated with the cooperative-competitive network topology. For the virtual leader case, all the followers can track the leader's state in a bipartite formation to realize bipartite tracking consensus. Finally, the simulation results are given to verify the theoretical results.
dc.language	English
dc.publisher	ASME
dc.relation.ispartof	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
dc.relation.isbasedon	10.1115/1.4048107
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	09 Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Bipartite Consensus Control for a Swarm of Robots
dc.type	Journal Article
utslib.citation.volume	143
utslib.for	09 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	*
dc.date.updated	2022-03-29T21:18:19Z
pubs.issue	1
pubs.publication-status	Published
pubs.volume	143
utslib.citation.issue	1

Abstract:

This paper studies the bipartite consensus problem of a swarm of robots whose dynamics are formulated by Lagrangian equations. Two distributed bipartite consensus control protocols are proposed for a swarm of robots without a leader or with a virtual leader. For the nonleader case, the networked Lagrangian system can reach static bipartite consensus under the control protocol developed, and the final convergent states can be explicitly determined by the specific structure of the Laplacian matrix associated with the cooperative-competitive network topology. For the virtual leader case, all the followers can track the leader's state in a bipartite formation to realize bipartite tracking consensus. Finally, the simulation results are given to verify the theoretical results.

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http://hdl.handle.net/10453/155674