TY - GEN
T1 - Formating Reshape Control Strategy for Multiple Amphibious Spherical Robots
AU - Li, Zan
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Xing, Huiming
AU - Hou, Xihuan
AU - Liu, Yu
AU - Xia, Debin
AU - Zhou, Mugen
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/13
Y1 - 2020/10/13
N2 - It is difficult for a rigid formation composed of multiple robots to pass through a narrow waterway, which needs to be realized by formation reshape. The virtual linkage structure is used to solve the problem that the conventional virtual structure is not easy to deform. In order to ensure the robustness of formation control, a discrete information consistency algorithm is added to provide the desire trajectory, then controller will be used to track it. At the same time, due to the difficulty of hydrodynamic modeling and the large overshoot of PID (proportional integral differential) controller, the double loop controller based on ADRC (Auto Disturbance Rejection Controller) include position loop and speed loop is used to adjust the position, and the single loop controller is used to adjust the heading angle and depth. The results of simulation show that the three combined methods of 3D virtual linkage structure, discrete consensus and ADRC realize the formation reshape.
AB - It is difficult for a rigid formation composed of multiple robots to pass through a narrow waterway, which needs to be realized by formation reshape. The virtual linkage structure is used to solve the problem that the conventional virtual structure is not easy to deform. In order to ensure the robustness of formation control, a discrete information consistency algorithm is added to provide the desire trajectory, then controller will be used to track it. At the same time, due to the difficulty of hydrodynamic modeling and the large overshoot of PID (proportional integral differential) controller, the double loop controller based on ADRC (Auto Disturbance Rejection Controller) include position loop and speed loop is used to adjust the position, and the single loop controller is used to adjust the heading angle and depth. The results of simulation show that the three combined methods of 3D virtual linkage structure, discrete consensus and ADRC realize the formation reshape.
KW - 3D virtual linkage structure
KW - Amphibious spherical robot
KW - Auto disturbance rejection controller
KW - Discrete information consensus
KW - Formation reshape
UR - https://www.scopus.com/pages/publications/85096539407
U2 - 10.1109/ICMA49215.2020.9233865
DO - 10.1109/ICMA49215.2020.9233865
M3 - Conference contribution
AN - SCOPUS:85096539407
T3 - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
SP - 1698
EP - 1703
BT - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Y2 - 13 October 2020 through 16 October 2020
ER -