Robusno upravljanje višerobotskim formacijama korištenjem klizećeg regulatora i neizrazitog kompenzatora

To form up a multiple-robot system, a robust adaptive control scheme is addressed. The control scheme is based on the methodology of sliding mode control (SMC). The formation system is leader-follower-based, whose dynamics are subject to uncertainties. A fuzzy compensator is adopted to approximate the uncertainties. To attenuate the approximation error, a robust adaptive law of the fuzzy compensator is introduced. In the sense of Lyapunov, not only such a control scheme can asymptotically stabilize the whole formation system, but also the convergence of the approximation error can be guaranteed. Compared with the sole sliding mode controller without compensator, some numerical simulations verify the feasibility and effectiveness of the control scheme for the multiple-robot system in the presence of uncertainties.Kako bi se formirao višerobotski sustav korištena je robusna adaptivna shema upravljanja. Upravljačka shema je bazirana na metodologiji upravljanja klizećim režimom (SMC). Formacijski sustav baziran je na vođa-sljedbenik metodi čija je dinamika podložna nesigurnostima. Za aproksimiranje nesigurnosti korišten je neizraziti kompenzator. Kako bi se prigušila aproksimacijska greška razvijen je robusni adaptivni upravljački zakon. Korištenjem takvog upravljačkog zakona ostvarena je stabilnost prema Lyapunovu, te je moguće garantirati konvergenciju aproksimacijske greške. U usporedbi s regulatorom zasnovanim na klizećem režimu bez kompenzatora, neke numeričke simulacije potvrđuju izvedivost i efikasnost ovakve sheme upravljanja višerobotskim sustavom uz prisutnost nesigurnosti

Swarm Robotics

Collectively working robot teams can solve a problem more efficiently than a single robot, while also providing robustness and flexibility to the group. Swarm robotics model is a key component of a cooperative algorithm that controls the behaviors and interactions of all individuals. The robots in the swarm should have some basic functions, such as sensing, communicating, and monitoring, and satisfy the following properties