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A testbed for control schemes using multi agent nonholonomic robots

M.N., Karsiti and S., Ahmed (2007) A testbed for control schemes using multi agent nonholonomic robots. In: 2007 IEEE International Conference on Electro/Information Technology, EIT 2007, 17 May 2007 through 20 May 2007, Chicago, IL.

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Abstract

Multi agent robots performing tasks together have significant advantages over a single robot. Applications of multi agent robots can be found in the fields of tele-surgery, hazardous waste cleanup, mine and ores detection and harvesting of agriculture fields. This paper presents the control analysis and develops a testbed to simulate different feedback control strategies using multi agent nonholonomic robots. Each multi agent robot communicate with other robots using Bluetooth piconet. The multi agent robot system is modeled in Simulink and simulation results are presented. The nonlinear feedback control strategy improves the system performance by minimizing the mean of the error. Furthermore, the nonlinear strategy globally asymptotically stabilizes the system using Lyapunov stability theory compared to the linear feedback strategy. The work presented here is an initial study concerning the design of feedback controllers for multi agent nonholonomic robots. ©2007 IEEE.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Bluetooth; Cellular telephone systems; Contracts; Control theory; Controllability; Diagnostic radiography; Electric impedance; Electric impedance tomography; Feedback; Feedback control; Machine design; Medical imaging; Minerals; Ores; Picocellular radio systems; Robotics; Robots; Test facilities; Bluetooth piconet; Control analysis; Control schemes; Feedback control strategies; Feedback controllers; Hazardous wastes; Linear feedbacks; Lyapunov stability theories; Multi agent robots; Nonholonomic robots; Nonlinear controllability; Nonlinear feedback controls; Robot systems; Simulation results; Simulink; Single robots; System performances; System using; Testbed; Multi agent systems
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments / MOR / COE:Departments > Electrical & Electronic Engineering
ID Code:320
Deposited By: Assoc Prof Dr Mohd Noh Karsiti
Deposited On:04 Mar 2010 02:54
Last Modified:31 Dec 2012 03:41

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