|
Fixed-Time Coordination Control for Spacecraft Formation Flying via NFFTSM and Sliding Mode Disturbance Observer |
|
Zhihong Wang, Weiduo Hu(Beihang University, China) |
| This paper presents a distributed fixed-time control protocol for spacecraft formation flying with the sliding mode disturbance observer (SMDO). Firstly, the dynamics of the formation is established. The information flow is described by a directed graph. Secondly, a SMDO is developed to estimate the external disturbances. Thirdly, a non-singular fixed-time fast terminal sliding mode cooperative controller is designed to ensure that each spacecraft will track their desirable positions and velocities in fixed time. The stability of the system is proved through Lyapunov method. Finally, simulation results demonstrate the effectiveness of the proposed control method. |
|
|
D-stability of generalized homogeneous cooperative time-varying systems |
|
Xiaoyu Li, Yuangong Sun(University of Jinan, China) |
| We will use a class of generalized homogeneous vector fields, which are homogeneous vector fields based on two dilation maps, to explore the D-stability problem of a class of positive time-varying systems. By introducing the maximal separable Lyapunov function, we first present several sufficient conditions for the D-stability of a general homogeneous cooperative time-varying system. Then we explicitly give the estimate of the attenuation rate of time-varying systems. Finally, two examples show the validity of the primary results. |
|
|
User-friendly Vehicle-to-Grid Optimal Scheduling Problem and Distributed Implementation for Plug-and-play Operation |
|
Seungbeom Lee, Soojeong Hyeon, Jiyeon Nam, Jinwook Heo, Hyungbo Shim(Seoul National University, Korea), Jinsung Kim(Hyundai Motor Company, Korea) |
| We propose an optimization method of charging scheduling algorithm based on preference of
vehicle owners. To suffice various desires for vehicle charging, we design objective function of optimization problem
as weighted sum of some objective function to reflect various desires. To solve the problem without aggregating weight
coefficient, distributed optimization based on dynamic average consensus method is implemented. By initialization-free
property of dynamic average consensus, plug-and-play operation of electric vehicle is applicable. |
|
|
Energy-Constrained Persistent Coverage Control on Multi-Quadrotor Systems |
|
Fan Jue-rong, Mourya Thummalapeta, Yen-Chen Liu(National Cheng Kung University, Taiwan) |
| This paper presents a novel method for persistent coverage in energy-constrained environments with prioritised areas to cover. The approach considers the value of different regions to ensure effective coverage. It uses coverage cost functions to find key navigation points in a 3D space, considering factors like environment importance, coverage quality, and sensor performance. The strategy includes charging stations, pairing methods, and agent selection based on energy needs. Agents with low energy levels are prioritized for charging stations to prevent energy depletion. Simulations with multiple quadrotors and different charging station setups demonstrate the approach's effectiveness. |
|
|
Adaptive Goal Management System: A Cloud-Based Robot Fleet Manager for Efficient Task Execution and Coordination |
|
Muhammad Kazim(Inha University, Korea), Michael Muldoon(Command Robotics, Canada), Hyunjae Sim, Kwangki Kim(Inha University, Korea) |
| This paper considers the problem of managing single or multiple robots and proposes a cloud-based robot fleet manager, Adaptive Goal Management (AGM) System, for teams of unmanned mobile robots. The AGM system uses an adaptive goal execution approach and provides a restful API for communication between single or multiple robots, enabling real-time monitoring and control. The overarching goal of AGM is to coordinate single or multiple robots to productively complete tasks in an environment. The proposed AGM system is designed to be adaptable and scalable, making it suitable for managing multiple heterogeneous robots in diverse environments with dynamic changes. |
|
|
Towards Collaborative Aerial Swarming for Military Applications |
|
Jason Hughes, Dongbin Kim, Steven Henderson, Pratheek Manjunath(United States Military Academy, United States) |
| The United States Department of Defense (DoD) has long been interested in aerial swarms for military intelligence, surveillance, and reconnaissance (ISR) missions. Through work with DoD partners, we found a unique need for a dynamic task allocation (TA) algorithm for a swarm of unmanned aerial systems (UAS). Capable control algorithms have already been developed but deploying such algorithms in an actual swarm, reliably, requires information exchange and data organization among the agents. To this end, we introduce a collaborative aerial swarming architecture (CASA), capable of dynamic task allocation and decentralized control. We highlight, through CASA, how this algorithm can be applied to |
|