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Swarm coordination under conflict and use of enhanced Lyapunov control / Sierra, Daniel A. in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 133 N° 2 (Mars 2011) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 08 p. Titre : Swarm coordination under conflict and use of enhanced Lyapunov control Type de document : texte imprimé Auteurs : Sierra, Daniel A., Auteur ; McCullough, Paul, Auteur ; Olgac, Nejat, Auteur Année de publication : 2011 Article en page(s) : 08 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Control  nonlinearities  Distributed  control  Lyapunov  methods  Multi-agent  systems  Nonlinear  control  systems  Particle  swarm  optimisation  Stability Index. décimale : 629.8 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=JDSMAA00013300 [...] [article] Swarm coordination under conflict and use of enhanced Lyapunov control [texte imprimé] / Sierra, Daniel A., Auteur ; McCullough, Paul, Auteur ; Olgac, Nejat, Auteur . - 2011 . - 08 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 2 (Mars 2011) . - 08 p. Mots-clés : Control  nonlinearities  Distributed  control  Lyapunov  methods  Multi-agent  systems  Nonlinear  control  systems  Particle  swarm  optimisation  Stability Index. décimale : 629.8 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=JDSMAA00013300 [...]