Bio-Inspired Adaptive Cooperative Control of Heterogeneous Robotic Networks

Abstract

We introduce a new adaptive cooperative control strategy for robotic networks comprised of heterogeneous members. The proposed feedback synchronization exploits an active parameter adaptation strategy as opposed to adaptive parameter estimation of adaptive control theory. Multiple heterogeneous robots or vehicles can coordinate their motions by parameter adaptation analogous to bio-genetic mutation and adaptation. In contrast with fixed gains used by consensus theory, both the tracking control and diffusive coupling gains are automatically computed based on the adaptation law, the synchronization errors, and the tracking errors of heterogeneous robots. The optimality of the proposed adaptive cooperative control is studied via inverse optimal control theory. The proposed adaptive cooperative control can be applied to any network structure. The stability proof, by using a relatively new nonlinear stability tool, contraction theory, shows globally asymptotically synchronized motion of a heterogeneous robotic network. This adaptive cooperative control can be widely applied to cooperative control of unmanned aerial vehicles (UAVs), formation flying spacecraft, and multi-robot systems. Results of the simulation show the effectiveness of the proposed adaptive cooperative control laws especially for a network comprised of heterogeneous members.

Cooperative control with adaptive graph Laplacians for spacecraft formation flying

“…In this paper, we introduce a new cooperative control approach, based on active adaptation of tracking/diffusive coupling gains and a distance-based connectivity condition. This strengthens results in [19]. In [19], the authors developed a new cooperative control, which is inspired by the knowledge feedback control [20].…”

“…This strengthens results in [19]. In [19], the authors developed a new cooperative control, which is inspired by the knowledge feedback control [20]. The method actively tries to find tracking and diffusive coupling gains so that the formation system can be synchronized effectively in the sense of fuel consumption and time of convergence.…”

“…Remark 6: In [19], the authors suggested a flexible topology design method. However, the current paper requires a relaxed condition: we eliminated the constraints that the topology should be a balanced graph.…”

Optimal Trajectory Planning and Coordinated Tracking Control Method of Tethered Space Robot Based on Velocity Impulse

“…A coordinated fault-tolerant nonlinear control method was presented by Godard [13] to control the attitude of a satellite using movement of tether attachment points; his method examined cases where tether deployment suddenly stops and tether breakage occurs. Chang et al proposed an adaptive coordinated control strategy for a robot system which can control its own movement [14]. The TSR is similar in concept to the above researches, which mention the coordinated control method; however, they only considered one aspect, such as orbit movement or attitude change.…”

Spacecraft Swarm Establishment and Maintenance Using Boids Control Theory

“…Despite being a novel research area in the space sector, ESA have already launched a constellation of three satellites into a near-polar orbit in November 2013 for Earth Observations. The satellite constellation carried sophisticated magnetometers, among other instruments, to aid in creating a highly detailed survey of the Earth's geomagnetic field, the Earth's temporal evolution, and the electric field in the Earth's atmosphere 1 . In addition to this, SpaceX's starlink satellites are also a strong example of satellites swarm coordinating with each other to provide world wide internet.…”