Balachandran, Ribin und Hrishik, Mishra und Panzirsch, Michael und Ott, Christian (2021) A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021-05-30 - 2021-06-05, Xi'an, China. doi: 10.1109/ICRA48506.2021.9561192. ISBN 978-172819077-8. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/9561192
Kurzfassung
Multi-agent control of a robot using multiple controllers is vital in domains like shared control and reliable control. The strategy of assigning a varying priority (authority) to each agent controller, and commanding the robot using an authority-weighted sum of the forces produced by all the agents has been exploited in prior works. In this paper, firstly, we show that this strategy results in a loss of passivity, and we identify the passivity-disrupting scaling-related terms. Secondly, we propose a model independent method to ensure finite-gain L 2 stability of such a generic multi-agent robot control system with time-varying force scaling factors. Thirdly, the analysis is validated with simulations and hardware experiments.
elib-URL des Eintrags: | https://elib.dlr.de/147106/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation | ||||||||||||||||||||
Autoren: |
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Datum: | 30 Mai 2021 | ||||||||||||||||||||
Erschienen in: | 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/ICRA48506.2021.9561192 | ||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||
ISBN: | 978-172819077-8 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | multi-agent systems, authority allocation, shared control | ||||||||||||||||||||
Veranstaltungstitel: | 2021 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||
Veranstaltungsort: | Xi'an, China | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 30 Mai 2021 | ||||||||||||||||||||
Veranstaltungsende: | 5 Juni 2021 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||
Hinterlegt von: | Panzirsch, Michael | ||||||||||||||||||||
Hinterlegt am: | 09 Dez 2021 14:22 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:45 |
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