Synchronized Coherent Swarming of a Collaborative Multi Agent System in Presence of Disturbance
Publish place: 21th Iranian Conference on Electric Engineering
Publish Year: 1392
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICEE21_877
تاریخ نمایه سازی: 27 مرداد 1392
Abstract:
In this paper, swarming of a set of agents consists of some unmanned aerial vehicles (UAVs) and some unmanned ground vehicles (UGVs) with coherent formation is studied. A decentralizedrobust controller is presented in order to reject the environmental disturbances and prone a rigid formation. Since the disturbanceeffecting UAVs is stronger than the one for UGVs, to tolerate this differences, the error of the neighbours are used by each agent asone of the entered signal of its controller to make the formation synchronized. The decentralized method improves the reliability ofthe performance. This algorithm is applied in simulation and the results approve the accepted performance of the proposed approach
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Authors
Reihane Rahimi
Amirkabir University of Technology