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Article title DISTRIBUTED MOTION CONTROL SYSTEM FOR GROUP OF LARGE-SIZE OBJECTS
Authors I.O. Shapovalov, E.Yu. Kosenko
Section SECTION I. MATHEMATICAL METHODS OF SYNTHESIS OF SYSTEMS
Month, Year 05, 2014 @en
Index UDC 681.58:621.865.8
DOI
Abstract Currently, many countries actively develop autonomous mobile group robot control systems. This is due to the realization of such system advantages. Group robot control to move large objects through the plane is a challenging problem solved with the help of the distributed group robot control system. Used by the control system, the quasi-linear dynamic model of the mobile object was developed and presented here. The object group motion control laws were developed on the basis of the Lyapunov function, virtual agents and the "leader–follower" conception with respect to the restrictions imposed on the object motions and the driving forces of robots. Lyapunov function is a combination the quasi attraction and repulsion fields. The proposed distributed control scheme allows flock motion a robot group with a group of objects along a given trajectory. Wherein the objects don"t collide with each other. Convergence of control processes in the synthesized distributed system proved analytically. In addition, the performance of the proposed group robot control system confirmed by the simulation results.

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Keywords Object group; distributed system; motion control; quasi fields; Lyapunov function; quasi- linear form.
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