Broadcast control of multi-robot systems with norm-limited update vector
This article addresses a problem in standard broadcast control framework which leads to an unstable solution in a certain motion-coordination task. First, the unstable phenomenon in a certain motion-coordination task is illustrated using standard broadcast control framework. This issue calls for mod...
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2020
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Online Access: | http://umpir.ump.edu.my/id/eprint/30811/1/Broadcast%20control%20of%20multi-robot%20systems%20with%20norm-limited.pdf http://umpir.ump.edu.my/id/eprint/30811/ https://doi.org/10.1177/1729881420945958 https://doi.org/10.1177/1729881420945958 |
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my.ump.umpir.308112021-06-30T14:24:23Z http://umpir.ump.edu.my/id/eprint/30811/ Broadcast control of multi-robot systems with norm-limited update vector Mohamad Hafizulazwan, Mohamad Nor Zool Hilmi, Ismail Mohd Ashraf, Ahmad TK Electrical engineering. Electronics Nuclear engineering This article addresses a problem in standard broadcast control framework which leads to an unstable solution in a certain motion-coordination task. First, the unstable phenomenon in a certain motion-coordination task is illustrated using standard broadcast control framework. This issue calls for modification to the standard broadcast control framework by limiting the norm of the update vector of robots’ positions into a constant value. Then, we demonstrate that the modified broadcast controller achieves the convergence with the probability of 1. Finally, we illustrate in numerical simulations that the modified broadcast controller can effectively solve the instability issue and also may improve the convergence time as compared to the standard broadcast controller. SAGE Publications Ltd 2020-08-17 Article PeerReviewed pdf en cc_by_4 http://umpir.ump.edu.my/id/eprint/30811/1/Broadcast%20control%20of%20multi-robot%20systems%20with%20norm-limited.pdf Mohamad Hafizulazwan, Mohamad Nor and Zool Hilmi, Ismail and Mohd Ashraf, Ahmad (2020) Broadcast control of multi-robot systems with norm-limited update vector. International Journal of Advanced Robotic Systems, 17 (4). pp. 1-12. ISSN 1729-8814 https://doi.org/10.1177/1729881420945958 https://doi.org/10.1177/1729881420945958 |
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TK Electrical engineering. Electronics Nuclear engineering Mohamad Hafizulazwan, Mohamad Nor Zool Hilmi, Ismail Mohd Ashraf, Ahmad Broadcast control of multi-robot systems with norm-limited update vector |
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This article addresses a problem in standard broadcast control framework which leads to an unstable solution in a certain motion-coordination task. First, the unstable phenomenon in a certain motion-coordination task is illustrated using standard broadcast control framework. This issue calls for modification to the standard broadcast control framework by limiting the norm of the update vector of robots’ positions into a constant value. Then, we demonstrate that the modified broadcast controller achieves the convergence with the probability of 1. Finally, we illustrate in numerical simulations that the modified broadcast controller can effectively solve the instability issue and also may improve the convergence time as compared to the standard broadcast controller. |
format |
Article |
author |
Mohamad Hafizulazwan, Mohamad Nor Zool Hilmi, Ismail Mohd Ashraf, Ahmad |
author_facet |
Mohamad Hafizulazwan, Mohamad Nor Zool Hilmi, Ismail Mohd Ashraf, Ahmad |
author_sort |
Mohamad Hafizulazwan, Mohamad Nor |
title |
Broadcast control of multi-robot systems with norm-limited update vector |
title_short |
Broadcast control of multi-robot systems with norm-limited update vector |
title_full |
Broadcast control of multi-robot systems with norm-limited update vector |
title_fullStr |
Broadcast control of multi-robot systems with norm-limited update vector |
title_full_unstemmed |
Broadcast control of multi-robot systems with norm-limited update vector |
title_sort |
broadcast control of multi-robot systems with norm-limited update vector |
publisher |
SAGE Publications Ltd |
publishDate |
2020 |
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http://umpir.ump.edu.my/id/eprint/30811/1/Broadcast%20control%20of%20multi-robot%20systems%20with%20norm-limited.pdf http://umpir.ump.edu.my/id/eprint/30811/ https://doi.org/10.1177/1729881420945958 https://doi.org/10.1177/1729881420945958 |
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13.211869 |