Broadcast Event-Triggered Control Scheme for Multi-Agent Rendezvous Problem in a Mixed Communication Environment

Sariff, Nohaidda Binti; Ismail, Zool Hilmi

doi:10.3390/app11093785

Cited by 5 publications

(7 citation statements)

References 58 publications

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“…6 DOF says that there are 6 states for control but there are four control signals. The rotary wing aircraft is an incomplete actuator [16]. The aircraft performs the motion using elevation (𝑧), roll (𝜙), pitch (𝜃) and yaw (𝜓) commands.…”

Section: Methods To Ensure Drone Stability During Shape Changementioning

confidence: 99%

Aircraft Designed for Cargo Transportation and Investigation of its Benefits

Özen,

Oktay

2024

enenstrg

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In this study, an Octorotor UAV capable of carrying 10 desi/2 kg cargo was designed. It is an eight-rotor rotary wing aircraft and its body consists of eight arms connected to each other by two moving mechanisms. When requested in emergency situations, the fastest intervention can be provided by aircrafts. The auxiliary battery and generator system carried by the aircraft is to provide enough energy to reach the nearest electric charging station for the stranded vehicles. In cases such as disasters, the rapid delivery of health supplies can also be provided by this method. The aircraft designed for this purpose has a rotary wing and a feature that can change its body structure according to different load and weather conditions. The shape change improves its performance compared to conventional aircraft and increases its ability to fulfil its mission. For this purpose, the design of a shape-changing aircraft was realized.

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Section: Methods To Ensure Drone Stability During Shape Changementioning

confidence: 99%

Aircraft Designed for Cargo Transportation and Investigation of its Benefits

Özen,

Oktay

2024

enenstrg

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“…SPSA provides optimal results. SPSA offers faster results than other optimization methods (Sariff and Ismail, 2021). SPSA uses the cost function, which is a combination of performance criteria such as rise time, settling time and maximum overshoot system values for optimum results.…”

Section: Simultaneous Perturbation Stochastic Approximation Optimizationmentioning

confidence: 99%

Simultaneous arm morphing quadcopter and autonomous flight system design

Kose,

Oktay,

Özen

2023

AEAT

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Purpose The purpose of this paper is to obtain values that stabilize the lateral and longitudinal flight of the quadrotor for which the morphing amount and the best Proportional-Integral-Derivative (PID) coefficients are determined by using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm. Design/methodology/approach Quadrotor consists of body and arms; there are propellers at the ends of the arms to take off and rotors that rotate them. By reducing the angle between mechanism 1 and the rotors with the horizontal plane, the angle between mechanism 2 and the arms, the rotors rise and different configurations are obtained. Conventional multi-rotor aircraft has a fixed fuselage and does not need a tail rotor to change course as helicopters do. The translational and rotational movements are provided by the rotation of the rotors of the aircraft at different speeds by creating moments about the geometric center in 6-degree-of-freedom (DOF) space. These commands sent from the ground are provided by the flight control board in the aircraft. The longitudinal and lateral flight stability and properties of different configurations evaluated by dynamic analysis and simulations in 6 DOF spaces are investigated. An algorithm and PID controller are being developed using SPSA to achieve in-flight position and attitude control of an active deformable aircraft. The results are compared with the results of the literature review and the results of the previous article. Findings With SPSA, the best PID coefficients were obtained in case of morphing. Research limitations/implications The effects of quadrotor arm height and hub angle changes affect flight stability. With the SPSA optimization method presented in this study, the attitude is quickly stabilized. Practical implications With the optimization method, the most suitable PID coefficients and angle values for the lateral and longitudinal flight stability of the quadrotor are obtained. Social implications The transition rate and PID coefficients are determined by using the optimization method, which is advantageous in terms of cost and practicality. Originality/value With the proposed method, the aircraft can change shape to adapt to different environments, and the parameters required for more stable flight for each situation will be calculated, and this will be obtained more quickly and safely with the SPSA optimization method.

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“…The consensus on velocity leads to a collective behaviour where the agents can move with a common velocity, while the consensus on position drives all agents to a common position. Formation [27], tracking [113], and rendezvous [114,115] were among the consensus applications being focused on by researchers.…”

Section: Multi-agent Robot System Consensusmentioning

confidence: 99%

Multi-Agent Robot Motion Planning for Rendezvous Applications in a Mixed Environment with a Broadcast Event-Triggered Consensus Controller

Sariff,

Hilmi Ismail,

Shah Hizam Md Yasir

et al. 2023

Motion Planning for Dynamic Agents

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Finding consensus is one of the most important tasks in multi-agent robot motion coordination research, especially in a communication environment. This justification underlies the use of event-triggered controller in current multi-agent consensus research. However, the communication issue has not been adequately addressed in a broadcast communication environment for rendezvous applications. Therefore, the broadcast event-triggered (BET) controller with a new formulation was designed using the Simultaneous Perturbation Stochastic Algorithm (SPSA). Theorems and relevant proofs were presented. Agent performances with the BET controller were evaluated and compared with the conventional broadcast time-triggered (BTT) controller. The results showed an effective motion generated by a multi-agent robot to reach the rendezvous point based on the Bernoulli distribution and gradient approximation of the agent local controller. The BET controller has proven to work more efficiently than the BTT controller when it reaches convergence in less than 40.42% of time and 21.00% of iterations on average. The utilization of communication channels is slightly reduced for BET, which is 71.09% usage instead of fully utilized by BTT. The threshold value of the event-triggered function (ETF) and SPSA parameters affected agent performances. Future research may consider using an effective and efficient BET controller in a complex communication environment with many variations of graph topology networks.

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Broadcast Event-Triggered Control Scheme for Multi-Agent Rendezvous Problem in a Mixed Communication Environment

Cited by 5 publications

References 58 publications

Aircraft Designed for Cargo Transportation and Investigation of its Benefits

Aircraft Designed for Cargo Transportation and Investigation of its Benefits

Simultaneous arm morphing quadcopter and autonomous flight system design

Multi-Agent Robot Motion Planning for Rendezvous Applications in a Mixed Environment with a Broadcast Event-Triggered Consensus Controller

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