Title :
Flocking for Swarm Robot System: Distributed Coadaptive Control and Optimization
Author :
Yang, Mao ; Li, Chengfeng ; Tian, Yantao
Author_Institution :
Key Lab. of Bionics Eng. of Minist. of Educ. China, Jilin Univ., Changchun, China
Abstract :
The mechanism of swarm flocking phenomena is investigated in this paper, and a distributed coadaptive control algorithm is presented for swarm robot system. We prove that this controller can enable all swarm members to converge to a common velocity only by means of the local information, then the finish time of flocking can be estimated. An improved particle swarm optimization algorithm (PSO) is adopted to solve the energy optimization problem. Simulation results are included to verify the controller and algorithm.
Keywords :
adaptive control; multi-robot systems; particle swarm optimisation; distributed coadaptive control; optimization; particle swarm optimization algorithm; swarm flocking phenomena; swarm robot system; Communication system control; Control engineering education; Control systems; Distributed control; Educational robots; Laboratories; Robot control; Stability analysis; Systems engineering education; Velocity control;
Conference_Titel :
Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4994-1
DOI :
10.1109/ICIECS.2009.5365540
