Adaptive Controller for Uncertain Multi-agent System Under Disturbances

被引：3

作者：

Vlasov, Sergey ^{[1
]}

Margun, Alexey ^{[1
]}

Kirsanova, Aleksandra ^{[1
]}

Vakhvianova, Polina ^{[1
]}

机构：

[1] ITMO Univ, Fac Control Syst & Robot, Kronversky Pr 49, St Petersburg 197101, Russia

来源：

ICINCO: PROCEEDINGS OF THE 16TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2 | 2019年

关键词：

Adaptive Control; Robotics; Robust Control; Parametric Uncertain; ALGORITHM;

D O I：

10.5220/0007827701980205

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This research is devoted to solving the problem of adaptive control algorithm synthesis for a mobile robots that is part of a multi-agent system. Proposed approach consists of trajectory planner and inner agent controller. The case of the passway intersection by the group of mobile robots is considered. Trajectory planner is based on intersection management approach. Adaptive consecutive compensator used for agent controller synthesis. Proposed approach provides control scheme which doesn't depend on plant parameters. A group of mobile robots is built for experimental evaluation of proposed approach. Obtained results confirm effectiveness of the developed algorithms.

引用

页码：198 / 205

页数：8

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