1,721,498 research outputs found
A hybrid barrier certificate approach to satisfy linear temporal logic specifications
No full textIn this work we formulate the satisfaction of a (syntactically co-safe) linear temporal logic specification on a physical plant through a recent hybrid dynamical systems formalism. In order to solve this problem, we introduce an extension to such a hybrid system framework of the so-called eventuality property, which matches suitably the condition for the satisfaction of such a temporal logic specification. The eventuality property can be established through barrier certificates, which we derive for the considered hybrid system framework. Using a hybrid barrier certificate, we propose a solution to the original problem. Simulations illustrate the effectiveness of the proposed method
Satisfaction of Linear Temporal Logic Specifications Through Recurrence Tools for Hybrid Systems
Get PDFIn this article, we formulate the problem of satisfying a linear temporal logic formula on a linear plant with output feedback, through a recent hybrid systems formalism. We relate this problem to the notion of recurrence introduced for the considered formalism, and we then extend Lyapunov-like conditions for recurrence of an open, unbounded set. One of the proposed relaxed conditions allows certifying recurrence of a suitable set, and this guarantees that the high-level evolution of the plant satisfies the formula, without relying on discretizations of the plant. Simulations illustrate the proposed approach
A Hybrid Controller for Obstacle Avoidance in an -dimensional Euclidean Space
No full textFor a vehicle moving in an n-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. The proposed hybrid control algorithm switches between two modes of operation: stabilization (motion-to-goal) and avoidance (boundary-following). The geometric construction of the flow and jump sets of the hybrid controller, exploiting a hysteresis region, guarantees robust switching (chattering-free) between stabilization and avoidance. Simulation results illustrate the performance of the proposed hybrid control approach for a 3-dimensional scenario
Obstacle Avoidance via Hybrid Feedback
Get PDFIn this article, we present a hybrid feedback approach to solve the navigation problem in the n-dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization to a target position and avoidance of the obstacles. The controller, exploiting hysteresis regions, employs a Zeno-free switching between two modes of control: stabilization and avoidance. Simulation results illustrate the performance of the proposed approach for 2-D and 3-D scenarios
Event-triggered control for multi-agent systems
Get PDFEvent-driven strategies for multi-agent systems are motivated by the future use of embedded microprocessors with limited resources that will gather information and actuate the individual agent controller updates. The control actuation updates considered in this paper are event-driven, depending on the ratio of a certain measurement error with respect to the norm of a function of the state, and are applied to a first order agreement problem. A centralized formulation of the problem is considered first and then the results are extended to the decentralized counterpart, in which agents require knowledge only of the states of their neighbors for the controller implementation.EU FeedNetBack STREP FP7 projectSwedish Foundation for Strategic ResearchSwedish Research CouncilSwedish Defence Materiel AdministrationSwedish Agency for Innovation System
Dual Quaternion Cluster-Space Formation Control
No full textWe present a tracking controller for mobile multirobot systems based on dual quaternion pose representations applied to formations of robots in a leader-follower configuration, by using a cluster-space state approach. The proposed controller improves system performance with respect to previous works by reducing steady-state tracking errors. The performance is evaluated through experimental field tests with a formation of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV), as well as a formation of two UAVs.Fil: Giribet, Juan Ignacio. Universidad de San Andrés; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Colombo, Leonardo Jesus. Universidad Carlos Iii de Madrid. Departamento de Matematicas.; España. Universidad Politécnica de Madrid; España. Consejo Superior de Investigaciones Científicas; EspañaFil: Moreno, Patricio. Universidad de Buenos Aires. Facultad de Ingeniería; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Mas, Ignacio Agustin. Universidad de San Andrés; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Dimarogonas, Dimos V.. Royal Institute of Technology; Sueci
Further Results on the Stability of Distance-Based Multi-Robot Formations
No full textAn important class of multi-robot formations is specified by desired distances between adjacent robots. In previous work, we showed that distance-based formations can be globally stabilized by negative gradient, potential field based, control laws, if and only if the formation graph is a tree. In this paper, we further examine the relation between the cycle space of the formation graph and the resulting equilibria of cyclic formations. In addition, the results are extended to the case of distance based formation control for nonholonomic agents. The results are supported through computer simulations.Swedish Agency for Innovation SystemsSwedish Defence Materiel AdministrationSwedish Research CouncilEU FeedNetBack STREP FP7 projec
Analysis of decentralized potential field based multi-agent navigation via primal-dual Lyapunov theory
No full textWe use a combination of primal and dual Lyapunov theory for almost global asymptotic stabilization and collision avoidance in multi-agent systems. Previous work provided local analysis around the critical points with the use of the dual Lyapunov technique. This paper provides analysis of the whole workspace with the use of the recently introduced combined use of primal and dual Lyapunov functions.United States. National Aeronautics and Space Administration (IDEAS grant NNX08AY52A
Motion Feasibility Conditions for Multiagent Control Systems on Lie Groups
No full textWe study the problem of motion feasibility for multiagent control systems on Lie groups with collision-avoidance constraints. We first consider the problem for kinematic left-invariant control systems and next, for dynamical control systems given by a left-trivialized Lagrangian function. Solutions of the kinematic problem give rise to linear combinations of the control inputs in a linear subspace, annihilating the collision-avoidance constraints. In the dynamical problem, motion feasibility conditions are obtained by using techniques from variational calculus on manifolds, given by a set of equations in a vector space, and Lagrange multipliers annihilating the constraint force that prevents the deviation of solutions from a constraint submanifoldThe work of L. J. Colombo was supported by ACCESS Linnaeus
Center, KTH Royal Institute of Technology, Sweden; in part by the
Ministerio de Economıa, Industria y Competitividad (MINEICO, Spain)
under Grant MTM2016-76702-P, in part by the Juan de la Cierva Incorporaci
´on Fellowship, in part by the I-Link Project linkA20079, and in part by
the fellowship (Ref. LCF/BQ/PI19/11690016) from “la Caixa” Foundation
(ID 100010434). The work of D. V. Dimarogonas was supported by the
Swedish Research Council (VR), in part by the Knut och AliceWallenberg
Foundation (KAW), in part by the H2020 Project Co4Robots, and in part
by the H2020 ERC Starting Grant BUCOPHSYSPeer reviewe
Distributed model based event-triggered control for synchronization of multi-agent systems
Get PDFThis paper investigates the problem of event-triggered control for the synchronization of networks of nonlinear dynamical agents; distributed model-based approaches able to guarantee the synchronization of the overall system are derived. In these control schemes all the agents use a model of their neighbourhood in order to generate triggering instants in which the local controller is updated and, if needed, local information based on the adopted control input is broadcasted to neighbouring agents. Synchronization of the network is proved and the existence of Zeno behaviour is excluded; an event-triggered strategy able to guarantee the existence of a minimum lower bound between inter-event times for broadcasted information and for control signal updating is proposed, thus allowing applications where both the communication bandwidth and the maximum updating frequency of actuators are critical. This idea is further extended in an asynchronous periodic event-triggered schemes where the agents check a trigger condition via a periodic distributed communication without requiring a model based computation
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