Formation of Multiple Groups of Mobile Robots Using Sliding Mode Control

Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT) \cite{c39}, has been applied to decompose the combined dynamics of wheeled mobile robots (WMRs) into three subsystems: intra and inter group shape dynamics, and the dynamics of the centroid. Separate controllers have been designed for each subsystem. The gains of the controllers are such chosen that the overall system becomes singularly perturbed system. Then sliding mode controllers are designed on the singularly perturbed system to drive the subsystems on sliding surfaces in finite time. Negative gradient of a potential based function has been added to the sliding surface to ensure collision avoidance among the robots in finite time. The efficacy of the proposed controller is established through simulation results.Comment: 8 pages, 5 figure

A scalable nanogenerator based on self-poled piezoelectric polymer nanowires with high energy conversion efficiency

Nanogenerators based on piezoelectric materials convert ever-present mechanical vibrations into electrical power for energetically autonomous wireless and electronic devices. Nanowires of piezoelectric polymers are particularly attractive for harvesting mechanical energy in this way, as they are flexible, lightweight and sensitive to small vibrations. Previous studies have focused exclusively on nanowires grown by electrospinning, but this involves complex equipment, and high voltages of $\approx$ 10 kV that electrically pole the nanowires and thus render them piezoelectric. Here we demonstrate that nanowires of poly(vinylidene fluoride-trifluoroethylene) (P(VDF-TrFE)) grown using a simple and cost-effective template-wetting technique, can be successfully exploited in nanogenerators without poling. A typical nanogenerator comprising $\approx$ 10$^{10}$ highly crystalline, self-poled, aligned nanowires spanning $\approx$ 2 cm$^2$ is shown to produce a peak output voltage of 3 V at 5.5 nA in response to low-level vibrations. The mechanical-to-electrical conversion efficiency of 11% exhibited by our template-grown nanowires is comparable with the best previously reported values. Our work therefore offers a scalable means of achieving high-performance nanogenerators for the next generation of self-powered electronics.SKN is grateful for support from the Royal Society through a Dorothy Hodgkin Fellowship. VN acknowledges the Herchel Smith Fund, University of Cambridge for a Fellowship. This work was supported by the EPSRC Cambridge NanoDTC, EP/G037221/1.This is the final version of the article. It first appeared from Wiley via http://dx.doi.org/10.1002/aenm.20140051