213 research outputs found
Distributed Bio-inspired Humanoid Posture Control
This paper presents an innovative distributed bio-inspired posture control
strategy for a humanoid, employing a balance control system DEC (Disturbance
Estimation and Compensation). Its inherently modular structure could
potentially lead to conflicts among modules, as already shown in literature. A
distributed control strategy is presented here, whose underlying idea is to let
only one module at a time perform balancing, whilst the other joints are
controlled to be at a fixed position. Modules agree, in a distributed fashion,
on which module to enable, by iterating a max-consensus protocol. Simulations
performed with a triple inverted pendulum model show that this approach limits
the conflicts among modules while achieving the desired posture and allows for
saving energy while performing the task. This comes at the cost of a higher
rise time.Comment: 2019 41st Annual International Conference of the IEEE Engineering in
Medicine & Biology Society (EMBC
Efficient Consensus-based Formation Control With Discrete-Time Broadcast Updates
This paper presents a consensus-based formation control strategy for
autonomous agents moving in the plane with continuous-time single integrator
dynamics. In order to save wireless resources (bandwidth, energy, etc), the
designed controller exploits the superposition property of the wireless
channel. A communication system, which is based on the Wireless Multiple Access
Channel (WMAC) model and can deal with the presence of a fading channel is
designed. Agents access the channel with simultaneous broadcasts at synchronous
update times. A continuous-time controller with discrete-time updates is
proposed. A proof of convergence is given and simulations are shown,
demonstrating the effectiveness of the suggested approach.Comment: Submitted to CDC 201
Exploiting the Superposition Property of Wireless Communication for Max-Consensus Problems in Multi-Agent Systems
This paper presents a consensus protocol that achieves max-consensus in
multi-agent systems over wireless channels. Interference, a feature of the
wireless channel, is exploited: each agent receives a superposition of
broadcast data, rather than individual values. With this information, the
system endowed with the proposed consensus protocol reaches max-consensus in a
finite number of steps. A comparison with traditional approaches shows that the
proposed consensus protocol achieves a faster convergence.Comment: Submitted for IFAC Workshop on Distributed Estimation and Control in
Networked System
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