Experimental Results on Composing Cooperative Behaviors in Networked Mobile Robots in the Presence of Unknown Control Effectiveness

摘要

View Video Presentation: https://doi.org/10.2514/6.2023-0508.vid It is recently discovered that the distributed control architectures can be used to drive the agents to desired different positions by using a modified Laplacian matrix. In addition, adaptive control methods are powerful tools that can deal with the presence of unknown control effectiveness. The first contribution of this paper is to theoretically present a new adaptive control for the purpose of achieving desired behaviors in the networked robots in the presence of unknown control effectiveness. The second contribution is to present experimental results in order to demonstrate the efficacy of using distributed adaptive control architectures in the dynamics of multi agent system, where we used Quanser’s QBot-2e’s, differential-drive mobile robot research platforms.