Symmetric caging formation for convex polygonal object transportation by multiple mobile robots based on fuzzy sliding mode control

Dai, Yanyan; Kim, Yoongu; Wee, Sung-Gil; Lee, DongHa; Lee, Suk-Gyu

doi:10.1016/j.isatra.2015.11.017

Cited by 34 publications

(20 citation statements)

References 14 publications

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“…In the case of such tasks, two general methods are used: pushing and grasping. In the first approach the object is pushed by a group of the robots [6,9,30], however, in this case the motion of the object cannot be controlled precisely.…”

Section: Related Workmentioning

confidence: 99%

“…The main task of the leader is to move its virtual endeffector to the final location p f in such a way as not to violate constraints (6). Additionally, the trajectory of the robot has to satisfy inequality conditions (17) and reach the minimum value of the performance index (18) in each time instant.…”

Section: Trajectory Generation For the Leadermentioning

confidence: 99%

“…The m-first components of E 1 are responsible for reaching the given final location p f , the h 1 -last items ensure fulfillment of constraints (6). The remaining n 1 − m − h 1 dependencies are derived above from the necessary condition for the minimum of the performance index (23), thus they are responsible for the fulfillment of constraints (17) as well as minimizing performance index (18).…”

Section: Trajectory Generation For the Leadermentioning

confidence: 99%

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Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Pająk

2018

J Intell Robot Syst

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This paper deals with the real-time trajectory generation problem for two cooperating mobile robots moving the common rigid object. The holonomic constraints resulting from a closed kinematic chain and the dynamics of such a system are considered. Two methods of generation sub-optimal trajectories allowing for mechanical and control limitations and collision avoidance conditions are proposed. The first solution is based on a leader-follower approach, in the second one the robotic system is treated as a whole mechanism. In both cases, the trajectories are generated in order to avoid singularities and they are scaled to satisfy control constraints. Advantages and disadvantages of both presented approaches are discussed. A computer example involving two mobile manipulators consisting of nonholonomic platform (2,0) class and planar 3-DOF holonomic manipulator is presented.

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Section: Related Workmentioning

confidence: 99%

Section: Trajectory Generation For the Leadermentioning

confidence: 99%

Section: Trajectory Generation For the Leadermentioning

confidence: 99%

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Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Pająk

2018

J Intell Robot Syst

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“…The technology of multi-agent systems has been praised as a novel paradigm for designing and implementing many real systems, such as distributed sensor networks [4], robots [5][6][7][8], satellite flying [9] and aerial vehicles [10]. In reality, a multi-agent system has some advantages over a single agent, including but not limited to efficiency, reliability, extensibility, robustness and flexibility [11,12].…”

Section: Introductionmentioning

confidence: 99%

“…However, the classic leader-following scheme is centralized, meaning that the control systems in [4,6,9,10] heavily depend on the leader and suffer from the "single point of failure'' problem. With the development of communication technology, it is desired to consider the communication topology in the scheme because the adaptability and practicability of multiple agents can be strengthened [15,16].…”

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confidence: 99%

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Qian¹,

Li²

2017

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.Key words: multi-agent system, formation control, integral sliding mode control, uncertainty, nonlinear disturbance observer, stability.Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode ysis and design of multiple agent systems. However, the classic leader-following scheme is centralized, meaning that the control systems in [4,6,9,10] heavily depend on the leader and suffer from the "single point of failure'' problem. With the development of communication technology, it is desired to consider the communication topology in the scheme because the adaptability and practicability of multiple agents can be strengthened [15,16].The leader-following scheme gains popularity in multi-agent formations because its dynamics are experimentally modelled, but the internal formation stability can be theoretically guaranteed. Adopting such a scheme, various control methods have been developed for multi-agent formations, that is, robust control [17], dynamic output feedback method [18], adaptive fuzzy approach [19], multi-step predictive mechanism [20], iterative learning technique [21], and neural network-based adaptive design [22], to name but a few. A systematic review on this topic is presented by Oh, Park and Ahn [23].As a nonlinear feedback design tool, the sliding mode control (SMC) technique is popular because of its invariance [24], meaning that matched uncertainties in an SMC system can be suppressed by the invariance. Some SMC-based methods have been addressed to solve the formation-control problem of multi-agent systems, that is, first-order SMC [25,26] [15,[25][26][27][28] have verified the feasibility of the SMC methodology for multi-agent formations.Compared to other SMC methods, the integral SMC design can guarantee an integral SMC system against matched uncertainties from the initial time, indicating that an entire response of the system is of invariance. Some successful applications of the integral SMC method have been reported in industries, for example, power systems [29], hypersonic ve...

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An introductory review of swarm technology for spacecraft on‐orbit servicing

Asri,

Zhu

2024

Int Journal of Mech Sys Dyn

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This review paper presents a comprehensive evaluation and forward‐looking perspective on the underexplored topic of servicing target objects using spacecraft swarms. Such targets can be known or unknown, cooperative or uncooperative, and pose significant challenges in modern space operations due to their inherent complexity and unpredictability. Successfully servicing space objects is vital for active debris removal and broader on‐orbit servicing tasks such as satellite maintenance, repair, refueling, orbital assembly, and construction. Significant effort has been invested in the literature to explore the servicing of targets using a single spacecraft. Given its advantages and benefits, this paper expands the discussion to encompass a swarm approach to the problem. This review covers various single‐spacecraft approaches and presents a critical examination of the existing, although limited, body of work dedicated to servicing orbital objects using multiple spacecraft. The focus is also broadened to include some influential studies concerning the characterization, capture, and manipulation of physical objects by general multiagent systems, a subject with significant parallels to the core interest of this manuscript. Furthermore, this article also delves into the realm of simultaneous localization and mapping, highlighting its application within close‐proximity operations in space, especially when dealing with unknown uncooperative targets. Special attention is paid to the benefits that this field can receive from distributed multiagent architectures. Finally, an exploration of the promising field of swarm robotics is presented, with an emphasis on its potential to revolutionize the servicing of orbital target objects. Concurrently, a survey of general research directly engaging swarms in the orbital context is conducted. This review aims to bridge the knowledge gap and stimulate further research in the underexplored domain of servicing space targets with spacecraft swarms.

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Symmetric caging formation for convex polygonal object transportation by multiple mobile robots based on fuzzy sliding mode control

Cited by 34 publications

References 14 publications

Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Real-Time Trajectory Generation Methods for Cooperating Mobile Manipulators Subject to State and Control Constraints

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

An introductory review of swarm technology for spacecraft on‐orbit servicing

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