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A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation

Balachandran, Ribin and Hrishik, Mishra and Panzirsch, Michael and 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), 30 May-5 June, Xi'an, China. doi: 10.1109/ICRA48506.2021.9561192. ISBN 978-172819077-8. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/9561192

Abstract

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.

Item URL in elib:https://elib.dlr.de/147106/
Document Type:Conference or Workshop Item (Speech)
Title:A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Hrishik, MishraHrishik.Mishra (at) dlr.deUNSPECIFIED
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:30 May 2021
Journal or Publication Title:2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICRA48506.2021.9561192
ISSN:1050-4729
ISBN:978-172819077-8
Status:Published
Keywords:multi-agent systems, authority allocation, shared control
Event Title:2021 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Xi'an, China
Event Type:international Conference
Event Dates:30 May-5 June
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:09 Dec 2021 14:22
Last Modified:25 Mar 2022 10:30

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