| Titre : | Swarm coordination under conflict and use of enhanced Lyapunov control (2011) |
| Auteurs : | Sierra, Daniel A., Auteur ; McCullough, Paul, Auteur ; Olgac, Nejat, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 133 N° 2, Mars 2011) |
| Article en page(s) : | 08 p. |
| Note générale : | Systèmes dynamiques |
| Langues : | Anglais |
| Index. décimale : | 629.8 |
| Tags : | Control nonlinearities Distributed control Lyapunov methods Multi-agent systems Nonlinear Particle swarm optimisation Stability |
| Résumé : | We consider hostile conflicts between two multi-agent swarms. First, we investigate the complex nature of a single pursuer attempting to intercept a single evader (1P-1E), and establish some rudimentary rules of engagement. The stability repercussions of these rules are investigated using a Lyapunov-based stability analysis. Second, we extend the modeling and stability analysis to interactions between multi-agent swarms of pursuers and evaders. The present document considers only swarms with equal membership strengths for simplicity. This effort is based on a set of suggested momenta deployed on individual agents. The control of group pursuit is divided into two phases: the approach phase during which the two swarms act like individuals in the 1P-1E interaction, and the assigned pursuit phase, where each pursuer follows an assigned evader. A simple, single-step dissipative control strategy, which results in undesirable control chatter, is considered first. A distributed control logic is then introduced, in order to ameliorate the chatter problems. In this new logic, the dissipative control action is spread out over a time window. A wide range of case studies is tested in order to quantify the parametric effects of the new strategy. |
| DEWEY : | 629.8 |
| ISSN : | 0022-0434 |
| En ligne : | http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000133000002021004000001&idtype=cvips&gifs=Yes&ref=no |
