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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Main Authors: Mohamad Hafizulazwan, Mohamad Nor, Zool Hilmi, Ismail, Mohd Ashraf, Ahmad
Format: Article
Language:English
Published: SAGE Publications Ltd 2020
Subjects:
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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spelling 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
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle 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
description 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
url 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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score 13.211869