Decentralized and Scalable Control of Multi-Agent Systems for Obstacle Avoidance and Changing Formation

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Firooze, Vahid | 2013

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 45250 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Sayyaadi, Hassan
Abstract:
Coordinate motion is a considerable phenomenon in biology and very powerful tool for leading and controlling a group of robots. In recent years, robotic becomes a helpful technology for acompilishing in works which is impossiple for human, such as working in toxic environments. In this project, we introduce coordinate motion problems which are applicable in multi-agent systems, and we also present suitable control algorithms for solving this problem. In other word, we use potential field method to model coordinate motion. We propose a three-cycle robot as an agent, such that it has two nonholonomic constraints. Designing an algorithm for solving coordinate motion problems, we propose these solutions as reference behavior and introduce two sliding surface that helps for reaching to reference behavior. It is noticeable that the presented sliding mode controller is robust against model uncertainty and noises. The effectiveness of proposed control laws are verified by simulations
Keywords:
Sliding Mode Control ; Multiagent System ; Nonholonomic System ; Potential Field Method

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