A Switched Systems Approach to Path Following With Intermittent State Feedback

Chen, Hsi-Yuan; Bell, Zachary I.; Deptula, Patryk; Dixon, Warren E.

doi:10.1109/tro.2019.2899269

Cited by 22 publications

(9 citation statements)

References 40 publications

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“…For approximate consensus, we consider the controller of the explorers in (8), where P is as follows (computed from (9) We set R f = R = 5, V T = 1, η = 4, T s = 0.5 and N = 20. Fig.…”

Section: Methodsmentioning

confidence: 99%

“…Using the ARE in (9), it follows that ( 19) is equivalent tȯ V 2,i (e 2,i (t)) = −k e 2,i (t) 2 . Using (18), we then see thaṫ…”

Section: Iiistability and Consensus Analysismentioning

confidence: 99%

“…The consensus state x g is set as [0, 0, 0] T . The random disturbance d i (t) is a vector whose elements are drawn at each time step t from a standard uniform distribution centered about the origin spanning [−0.5d i , 0.5d i ] for all i ∈ F , whered 1 = 0.04,d 2 = 0.03, andd 3 = 0.02.For approximate consensus, we consider the controller of the explorers in (8), where P is as follows (computed from(9) with k = 0.1).…”

mentioning

confidence: 99%

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Controller Synthesis for Multi-Agent Systems With Intermittent Communication. A Metric Temporal Logic Approach

Zegers

Dixon

et al. 2019

2019 57th Annual Allerton Conference on Communication, Control, and Computing (Allerton)

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This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with absolute position sensors switches among a set of followers without absolute position sensors to provide each follower with intermittent state information. We model the MAS as a switched system. The followers are to asymptotically reach a predetermined consensus state. To guarantee the stability of the switched system and the consensus of the followers, we derive maximum and minimal dwell-time conditions to constrain the intervals between consecutive time instants at which the leader should provide state information to the same follower. Furthermore, the leader needs to satisfy practical constraints such as charging its battery and staying in specific regions of interest. Both the maximum and minimum dwell-time conditions and these practical constraints can be expressed by metric temporal logic (MTL) specifications. We iteratively compute the optimal control inputs such that the leader satisfies the MTL specifications, while guaranteeing stability and consensus of the followers. We implement the proposed method on a case study with three mobile robots as the followers and one quadrotor as the leader. I. INTRODUCTIONCoordination strategies for multi-agent systems (MAS) have been traditionally designed under the assumption that state feedback is continuously available. However, continuous communication over a network is often impractical, especially in mobile robot applications where shadowing and fading in the wireless communication can cause unreliability, and each agent has limited energy resources [1], [2].Due to these constraints, there is a strong interest in developing MAS coordination methods that rely on intermittent information over a communication network. The results in [3]-[8] develop event-triggered and self-triggered controllers that utilize sampled data from networked agents only when triggered by conditions that ensure desired stability and performance properties. However, these results require a network represented by a strongly connected graph to enable agent coordination. This requirement of a strongly connected network induces constraints on the motion of the individual agents and additional maneuvers that may deviate from their primary purpose. Event-triggered and self-triggered control

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“…For approximate consensus, we consider the controller of the explorers in (8), where P is as follows (computed from (9) We set R f = R = 5, V T = 1, η = 4, T s = 0.5 and N = 20. Fig.…”

Section: Methodsmentioning

confidence: 99%

“…Using the ARE in (9), it follows that ( 19) is equivalent tȯ V 2,i (e 2,i (t)) = −k e 2,i (t) 2 . Using (18), we then see thaṫ…”

Section: Iiistability and Consensus Analysismentioning

confidence: 99%

mentioning

confidence: 99%

See 1 more Smart Citation

Controller Synthesis for Multi-Agent Systems With Intermittent Communication. A Metric Temporal Logic Approach

Zegers

Dixon

et al. 2019

2019 57th Annual Allerton Conference on Communication, Control, and Computing (Allerton)

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“…The past two decades have seen extensive efforts toward the study of switched systems, 1,2 with applications in many technological areas, for example, power systems, 3 robotics, 4 and so forth. The design of stabilizing switching laws is a fundamental problem of switched systems.…”

Section: Introductionmentioning

confidence: 99%

Asymptotic switched composite adaptive control with application to robotic interaction tasks

Yuan

Qiao

Zhang

et al. 2022

Intl J Robust & Nonlinear

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This article proposes a new switched adaptive control design for uncertain switched systems with composite (time-driven and state-dependent) switching and shows its applicability in switched impedance control. A composite switched adaptive control design, consisting of the direct switched adaptive control and the indirect switched adaptive control counterpart, is developed to improve the control performance. Specifically, a new stability condition for composite switching is proposed by making use of differential matrix equations and Sylvester matrix equations, which are a generalization of Lyapunov matrix equations. The design results in a time-varying multiple Lyapunov function that is decreasing at the switching instants. From the theoretical point of view, the relevance of this work is the construction of the adaptive laws that guarantee asymptotic tracking error and asymptotic estimation for the direct and indirect switched adaptive control loops, respectively. From the practical point of view, the relevance of this work is validated in a new switched impedance control for the robot interaction with uncertain and discontinuous environments.

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“…However, these results switch between systems which are either globally or locally stable. In [22], [23], an observer-predictor framework is presented for target tracking and trajectory tracking in the presence of intermittent measurements by switching between a global uniformly ultimately bounded (GUUB) and an unstable system. The switched error system is shown to be GUUB based on the dwell time conditions.…”

Section: Introductionmentioning

confidence: 99%

Combining Motion Primitives and Image-Based Visual Servo Control

Rotithor

Dani

2020

2020 International Symposium on Flexible Automation

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Combining perception feedback control with learning-based open-loop motion generation for the robot’s end-effector control is an attractive solution for many robotic manufacturing tasks. For instance, while performing a peg-in-the-hole or an insertion task when the hole or the recipient part is not visible in the eye-in-the-hand camera, an open-loop learning-based motion primitive method can be used to generate end-effector path. Once the recipient part is in the field of view (FOV), visual servo control can be used to control the motion of the robot. Inspired by such applications, this paper presents a control scheme that switches between Dynamic Movement Primitives (DMPs) and Image-based Visual Servo (IBVS) control combining end-effector control with perception-based feedback control. A simulation result is performed that switches the controller between DMP and IBVS to verify the performance of the proposed control methodology.

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A Switched Systems Approach to Path Following With Intermittent State Feedback

Cited by 22 publications

References 40 publications

Controller Synthesis for Multi-Agent Systems With Intermittent Communication. A Metric Temporal Logic Approach

Controller Synthesis for Multi-Agent Systems With Intermittent Communication. A Metric Temporal Logic Approach

Asymptotic switched composite adaptive control with application to robotic interaction tasks

Combining Motion Primitives and Image-Based Visual Servo Control

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