Controlling Brownian motion applied to macroscopic group robots without mutual communication

摘要

We control macroscopic Brownian motion by group robots. To make an object track a required path, feedforward control input is found using our preceding model of continuum mechanical description. We use dynamical balance in continuum mechanics to calculate the feedforward input in each time. We see a phenomenon that the object does not move in a required direction in initial stage of Brownian motion. Due to the phenomenon, large feedback component added to the feedforward input is not avoided to make the object track a required path. We show that feedforward with feedback component works well. But appropriate prediction of a dead time must be incorporated into our continuum model.