Control Analysis and Feedback Techniques for Multi Agent Robots

摘要

Multi agent robots involve a team of robots working together socially to achieve a task. Collaboration among agents is motivated by a need to complete complex tasks that require more capabilities than a single robot can provide. Applications of multi agent robots can be found in the fields of underwater robotics, air traffic control, intelligent highways, security patrols, tele-surgery and mines and ores detection The accuracy of task completion by multi agent robots depends on the control strategies implemented in the robots to minimize the effect of external disturbances and errors. Multi agent unicycle robots can be represented as an underactuated system in which the number of control inputs is less than the number of states. In such a system, the controllable degrees of freedom are less than the total degrees of freedom. Hence, the motion control problems for underactuated systems are of particular interest for research