Differential flatness-based distributed control of underactuated robot swarms

doi:10.1007/s10483-023-3040-8

Abstract

Abstract: This paper proposes a distributed control method based on the differential flatness (DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.

Key words: differential flatness (DF), underactuated robot, distributed control, synchronization

2010 MSC Number:

Ningbo AN, Qishao WANG, Xiaochuan ZHAO, Qingyun WANG. Differential flatness-based distributed control of underactuated robot swarms. Applied Mathematics and Mechanics (English Edition), 2023, 44(10): 1777-1790.

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