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Bio-Inspired Adaptive Cooperative Control of Heterogeneous Robotic Networks

Chang, Insu and Chung, Soon-Jo (2009) Bio-Inspired Adaptive Cooperative Control of Heterogeneous Robotic Networks. In: AIAA Guidance, Navigation, and Control Conference 2009. American Institute of Aeronautics and Astronautics (AIAA) , Reston, VA, Art. No. 2009-5886. ISBN 978-1-60086-978-5. http://resolver.caltech.edu/CaltechAUTHORS:20161201-065326671

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Abstract

We introduce a new adaptive cooperative control strategy for robotic networks comprised of heterogeneous members. The proposed feedback synchronization exploits an active parameter adaptation strategy as opposed to adaptive parameter estimation of adaptive control theory. Multiple heterogeneous robots or vehicles can coordinate their motions by parameter adaptation analogous to bio-genetic mutation and adaptation. In contrast with fixed gains used by consensus theory, both the tracking control and diffusive coupling gains are automatically computed based on the adaptation law, the synchronization errors, and the tracking errors of heterogeneous robots. The optimality of the proposed adaptive cooperative control is studied via inverse optimal control theory. The proposed adaptive cooperative control can be applied to any network structure. The stability proof, by using a relatively new nonlinear stability tool, contraction theory, shows globally asymptotically synchronized motion of a heterogeneous robotic network. This adaptive cooperative control can be widely applied to cooperative control of unmanned aerial vehicles (UAVs), formation flying spacecraft, and multi-robot systems. Results of the simulation show the effectiveness of the proposed adaptive cooperative control laws especially for a network comprised of heterogeneous members.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2009-5886DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2009-5886PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2009 American Institute of Aeronautics and Astronautics. This was supported by the Air Force Office of Scientific Research (AFOSR). The authors thank Prof. James Oliver at the Virtual Reality Application Center, Iowa State University for his support. The authors gratefully acknowledge stimulating discussions with Prof. Jean-Jacques E. Slotine at Massachusetts Institute of Technology.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)UNSPECIFIED
Iowa State UniversityUNSPECIFIED
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AIAA Paper2009-5886
Record Number:CaltechAUTHORS:20161201-065326671
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161201-065326671
Official Citation:Insu Chang and Soon-Jo Chung. "Bio-Inspired Adaptive Cooperative Control of Heterogeneous Robotic Networks", AIAA Guidance, Navigation, and Control Conference http://dx.doi.org/10.2514/6.2009-5886
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72488
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:01 Dec 2016 19:40
Last Modified:04 Jan 2017 18:57

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