Robust Region Tracking for Swarms via a Novel Utilization of Sliding Mode Control

Bacon, Mark; Olgaç, Nejat; Cepeda-Gomez, Rudy

doi:10.4236/ica.2012.31012

Cited by 5 publications

(10 citation statements)

References 21 publications

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“…The stability and robustness of the proposed solution were demonstrated. • The method proposed by Bacon [4] was extended for the control and safe navigation of robots in the plane (R 2 ) , to be able to use it in space (R 3 ) , and its effectiveness, stability and robustness were verified in simulated experiments with a fleet of aerial robots.…”

Section: Discussionmentioning

confidence: 99%

“…The definitions and procedure proposed below are based on the work of Bacon et al [4] for two dimensions (x and y axes), but in this case the extension of such procedure to a third dimension (z axis) is made, with the necessary considerations for such extension.…”

Section: Analytical Approach Of Sliding Mode Control For Coordinated mentioning

confidence: 99%

“…In case of terrestrial robots, different approaches have been made, using different types of robot models. As an example of this, using the approach and theory of Lyapunov, Bacon et al [4] proposed a law of control by sliding modes (SMC) in which the resulting decentralized control guides the robotic agents toward the coverage of an area within a target region that could be moving. The approach of the agents to the objective is asymptotic and without collisions.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear control for collision-free navigation of UAV fleet

Álvarez

Espinosa

2019

SN Appl. Sci.

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This paper presents the development of a cooperation scheme among unmanned aerial vehicle (UAV). Sliding mode control technique is used to guarantee that the set of robots can follow a reference trajectory and, in addition, will guarantee collision-free navigation of these autonomous vehicles. The analytical approach of the control strategy is shown, and the necessary conditions to guarantee the stability and governability of the multi-robot system are derived. The strategy and the derived conditions are tested using simulations, to demonstrate their effectiveness for collision-free navigation of an UAV fleet.

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Section: Discussionmentioning

confidence: 99%

Section: Analytical Approach Of Sliding Mode Control For Coordinated mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Nonlinear control for collision-free navigation of UAV fleet

Álvarez

Espinosa

2019

SN Appl. Sci.

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“…The agents are allocated homogeneously inside this area. Sliding mode control is used in [15] to gather and maintain a set of agents inside an elliptical area. The area is arbitrarily moved while maintaining cohesion between the agents during the movement.…”

Section: Introductionmentioning

confidence: 99%

Formation flying control via elliptical virtual structure

Kahn

Marzat

Piet-Lahanier

2013

2013 10th IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC)

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This paper describes a guidance law for the formation flight of a flock of autonomous vehicles. The formation is defined by a virtual geometrical structure-here, an ellipsethat can modify its shape and orientation to avoid collision with obstacles of the environment. The proposed guidance law is divided into two layers, with a model predictive control scheme at each level. The higher layer controls the structure itself to fulfill the goals and constraints of the required mission. The trajectory of the fleet is built on-line thanks to this layer, as well as the adaptation of the structure to the environment. The lower layer controls the vehicles, so as to attract and keep them inside the structure without side collision. Simulation results illustrate the interest of the approach to guide a fleet of vehicles towards a target while avoiding obstacles.

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“…Utilizando el enfoque y la teoría de Lyapunov, Bacon et al [10] proponen una ley de control por modos deslizantes en que el control descentralizado resultante guía los agentes robóticos hacia el cubrimiento de un área dentro de una región objetivo que podría estarse moviendo. La aproximación de los agentes al objetivo es asintótica y sin colisiones.…”

Section: Trabajos Relacionados Con Técnicas De Control Aplicadas En R...unclassified

Control por modos deslizantes como estrategia de navegación en una flota de robots

Álvarez¹

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This thesis presents the development of a cooperation scheme between unmanned ground (UGV) and aerial (UAV) vehicles. This scheme is the basis for forming two fleets of autonomous robots (called FRACTAL and RoMA). In order to assess, in different settings and on different tasks, the validity of the coordination and cooperation strategies proposed in the thesis, the FRACTAL fleet robots serves as a test bed for tasks like using coordinated aerial and ground vehicles to support search and rescue work in emergency scenarios or cooperation of a fleet of robots for agriculture. It is also shown that using the technique of nonlinear control known as Sliding Modes Control (SMC) can be applied not only for individual autonomous navigation of an aircraft or land robot, but also in tasks requiring the coordinated navigation of several robots, without collisions, in a shared environment. To this purpose, a strategy of coordination between robots using Sliding Mode Control technique is theoretically conceptualized, extending its application to non-holonomic robots in R 2 and aerial robots in three-dimensional space.After this theoretical contextualization, the stability conditions of multi-robot system are analyzed, and finally, the stability and robustness characteristics are validated. Such validations are made with simulated experiments about the safe and efficient navigation of a group of UGV for the detection of possible environmental hazards, taking advantage of the information provided by a UAV. This simulations are made using mathematical models of RoMA fleet robots. These coordinated tasks of robots fleet are made possible thanks to the effectiveness, stability and robustness of the control strategies developed as core of this research.

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Robust Region Tracking for Swarms via a Novel Utilization of Sliding Mode Control

Cited by 5 publications

References 21 publications

Nonlinear control for collision-free navigation of UAV fleet

Nonlinear control for collision-free navigation of UAV fleet

Formation flying control via elliptical virtual structure

Control por modos deslizantes como estrategia de navegación en una flota de robots

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