Teleoperation of multi-agent systems with nonuniform control input delays

Integrated Computer-Aided Engineering

Volumn 19, Issue 2, 2012, Pages 125-136

  Rodríguez Seda, Erick J ^a   Stipanović, Dušan M ^a   Spong, Mark W ^a  

^a UNIVERSITY OF TEXAS AT DALLAS   (United States)

Author keywords

multi agent systems; networked control systems; robotics; Teleoperation; time delay systems

Indexed keywords

CONSTANT DELAYS; CONTROL ARCHITECTURE; CONTROL FRAMEWORK; CONTROL PARAMETERS; DELAY INDEPENDENT; FORMATION CONTROL; INPUT DELAYS; MODEL REFERENCE ROBUST CONTROL; MOTION COORDINATION; MULTI AGENT SYSTEM (MAS); NON-UNIFORM CONTROL; NONLINEAR LAGRANGIAN; NUMERICAL EXAMPLE; PLANAR MANIPULATOR; POTENTIAL APPLICATIONS; REFERENCE MODELS; SCATTERING TRANSFORMATION; SYSTEM NONLINEARITIES; SYSTEM UNCERTAINTIES; TELEOPERATED; TIME-DELAY SYSTEMS;

COORDINATION REACTIONS; MOTION PLANNING; MULTI AGENT SYSTEMS; NETWORKED CONTROL SYSTEMS; REMOTE CONTROL; ROBOTICS; SYSTEM STABILITY;

DELAY CONTROL SYSTEMS;

EID: 84860126182     PISSN: 10692509     EISSN: 18758835     Source Type: Journal    
DOI: 10.3233/ICA-2012-0396     Document Type: Article

References (47)

1. R. J. Anderson and M. W. Spong, Bilateral control of teleoperators with time delays, IEEE Transactions on Automatic Control 34(5) (May 1989), 494-501.
2. J. Bajo, J. F. De Paz, S. González and A. Rodríguez. Multiagent system to monitor oceanic environments, Integrated Computer-Aided Engineering 17(2) (2010), 131-144.
3. B. Chen and W. Liu, Mobile agent computing paradigm for building a flexible structural health monitoring sensor network, Computer-Aided Civil Infrastructure Engineering 25(7) (2010), 504-516.
4. N. Chopra and M. W. Spong, Output synchronization of nonlinear systems with time delay in communication. In Proceedings of the IEEE Conference on Decision and Control, Dec. 2006, pp. 4986-4992. (Pubitemid 351284324)
5. N. Chopra and M. W. Spong, Delay-independent stability for interconnected nonlinear systems with finite L2 gain. In Proceedings of the IEEE Conference on Decision and Control, Dec. 2007, pp. 3847-3852. (Pubitemid 351277748)
6. S.-J. Chung and J. J. E. Slotine, Cooperative robot control and concurrent synchronization of Lagrangian systems, IEEE Transactions on Robotics 25(3) (June 2009), 686-700.
7. J. Cortés, S. Martínez, T. Karatas and F. Bullo, Coverage control for mobile sensing networks, IEEE Transactions on Robotics and Automation 20(2) (Apr. 2004), 243-255.
8. O. Egeland and K. Pettersen. Free-floating robotic systems. In B. Siciliano and K. Valavanis, editors, Control Problems in Robotics and Automation, Lecture Notes in Control and Information Sciences, Springer Berlin - Heidelberg, 1998, pp. 119-134. (Pubitemid 128000491)
9. P. J. From, I. Schjølberg, J. T. Gravdahl, K. Y. Pettersen and T. I. Fossen, On the boundedness and skew-symmetric properties of the inertia and Coriolis matrices for vehicle-manipulator systems. In Proceedings of the IFAC Symposium on Intelligent Autonomous Vehicles, Leece, Italy, Sept. 2010.
10. A. Fujimori, T. Fujimoto and G. Bohács. Mobile robot formation control using a modified leader-follower technique, Integrated Computer-Aided Engineering 15(1) (2008), 71-84. (Pubitemid 350084293)
11. F. Ghorbel, B. Srinivasan and M. W. Spong, On the uniform boundedness of the inertia matrix of serial robot manipulators, International Journal of Robotics Research 15(1) (Jan. 1998), 17-28. (Pubitemid 128648522)
12. J. K. Hale, A stability theorem for functional-differential equations, Proceedings of the New York Academy of Sciences 50(1963), 942-946.
13. Y. Hongwang, Z. Yufan and P. Weiyun, Coordination of multiagent systems with time-varying delays. In Proceedings of the Chinese Control Conference, July 2008, pp. 76-80.
14. J. Hu and Y. Hong, Leader-following coordination of multiagent systems with coupling time delays, Physica A 374(2) (Feb. 2007), 853-863. (Pubitemid 44765170)
15. G. Kantor, S. Singh, R. Peterson, D. Rus, A. Das, V. Kumar, G. Pereira and J. Spletzer. Distributed search and rescue with robot and sensor teams, in: Field and Service Robotics, Springer Tracts in Advanced Robotics, S. Yuta, H. Asama, S. Thrun, E. Prassler and T Tsubouchi, eds, Springer Berlin - Heidelberg, 2006, pp. 529-538. (Pubitemid 44430530)
16. H. Khalil, Nonlinear Systems. Prentice Hall, New Jersey, 2002.
17. D. Lee and M. W. Spong, Agreement with non-uniform information delays. In Proceedings of the American Control Conference, Minneapolis, MN, June 2006, pp. 756-761. (Pubitemid 46530902)
18. N. E. Leonard, D. A. Paley, F. Lekien, R. Sepulchre, D. M. Fratantoni and R. E. Davis, Collective motion, sensor networks, and ocean sampling, Proceedings of the IEEE 95(1) (Jan. 2007), 48-74.
19. P. Li, Y. Jia and L. Li, Distributed robust h1 consensus control in directed networks of agents with time-delay, Systems and Control Letters 57(8) (Aug. 2008), 643-653. (Pubitemid 351749486)
20. P. Lin and Y. Jia, Consensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies, Automatica 45(9) (Sept. 2009), 2154-2158.
21. C.-L. Liu and F. Liu, Consensus of second-order multi-agent systems with input delay. In Proceedings of the Chinese Control and Decision Conference, May 2010, pp. 1261-1266.
22. I. Martí, V. R. Tomas, L. A. Garćia and J. J. Martínez, A multiagent system for managing adverse weather situations on the road network, Integrated Computer-Aided Engineering 17(2) (2010), 145-155.
23. T. Matiakis, S. Hirche and M. Buss, Control of networked systems using the scattering transformation, IEEE Transactions on Control Systems Technology 17(1) (Jan. 2009), 60-67.
24. Z. Meng, W. Ren, Y. Cao and Z. You, Leaderless and leaderfollowing consensus with communication and input delays under a directed network topology, IEEE Transactions on Systems, Man and Cybernetics 41(1) (Feb. 2011), 75-88.
25. S. Mullen and G. Onsongo, Decentralized agent-based underfrequency load shedding, Integrated Computer-Aided Engineering 17(4) (2010), 321-329.
26. U. Munz, A. Papachristodoulou and F. Allgower, Delaydependent rendezvous and flocking of large scale multiagent systems with communication delays. In Proceedings of the IEEE Conference on Decision and Control, Dec. 2008, pp. 2038-2043.
27. R. M. Murray, Recent research in cooperative control of multivehicle systems, Journal of Dynamic Systems, Measurement, and Control 129(5) (Sept. 2007), 571-583. (Pubitemid 47549394)
28. G. Niemeyer and J. J. E. Slotine, Stable adaptive teleoperation, IEEE Journal of Oceanic Engineering 16(1) (Jan. 1991), 152-162.
29. E. Nuño, R. Ortega, L. Basanez and D. Hill, Synchronization of networks of nonidentical Euler-Lagrange systems with uncertain parameters and communication delays, IEEE Transactions on Automatic Control 56(4) (Apr. 2011), 935-941.
30. R. Olfati-Saber and R. M. Murray, Consensus problems in networks of agents with switching topology and time-delays, IEEE Transactions on Automatic Control 49(9) (Sept. 2004), 1520-1533.
31. K. Peng and Y. Yang, Leader-following consensus problem with a varyingvelocity leader and time-varying delays, Physica A 388(2-3) (Jan. 2009), 193-208.
32. F. Ponci, L. Cristaldi, M. Faifer and M. Riva, Multi agent systems: An example of power system dynamic reconfiguration, Integrated Computer-Aided Engineering 17(4) (2010), 359-372.
33. W. Ren, R. W. Beard and E. M. Atkins, A survey of consensus problems in multi-agent coordination. In Proceedings of the American Control Conference, Portland, OR, June 2005, pp. 1859-1864. (Pubitemid 41189135)
34. E. J. Rodríguez-Seda, D. Lee and M. W. Spong, Experimental comparison study of control architectures for bilateral teleoperators, IEEE Transactions on Robotics 25(6) (Dec. 2009), 1304-1318.
35. E. J. Rodríguez-Seda, P. O. López-Montesinos, D. M. Stipanović and M. W. Spong, Passivity-based model reference robust control for a class of nonlinear systems with input and state measurement delays. In Proceedings of the American Control Conference, Baltimore, MD, June 2010, pp. 6585-6592.
36. E. J. Rodríguez-Seda and M. W. Spong, A time-varying wave impedance approach for transparency compensation in bilateral teleoperation. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, Oct. 2009, pp. 4609-4615.
37. E. J. Rodríguez-Seda, J. J. Troy, C. A. Erignac, P. Murray, D. M. Stipanović and M. W. Spong, Bilateral teleoperation of multiple mobile agents: Coordinated motion and collision avoidance, IEEE Transactions on Control Systems Technology 18(4) (July 2010), 984-992.
38. J. F. Smith III and T. V. H. Nguyen, Autonomous and cooperative robotic behavior based on fuzzy logic and genetic programming, Integrated Computer-Aided Engineering 14(2) (2007), 141-159. (Pubitemid 47190524)
39. H.-S. Su and W. Zhang, Second-order consensus of multiple agents with coupling delay, Communications in Theoretical Physics 51(1) (Jan. 2009), 101-109.
40. Y.-P. Tian and C.-L. Liu, Robust consensus of multi-agent systems with diverse input delays and asymmetric interconnection perturbations, Automatica 45(5) (May 2009), 1347-1353.
41. A. van der Schaft, L2-Gain Stability and Passivity Techniques in Nonlinear Control. Springer-Verlag, London, UK, 2000.
42. J. A. Vázquez and M. Velasco-Villa, Path-tracking dynamic model based control of an omnidirectional mobile robot. In Proceedings of the IFAC World Congress, Seoul, Korea, July 2008, pp. 5365-5370.
43. R. L. Williams, B. E. Carter, P. Gallina and G. Rosati, Dynamic model with slip for wheeled omnidirectional robots, IEEE Transactions on Robotics and Automation 18(3) (June 2002), 285-293.
44. H. Yan and L. Gao, Leader-following consensus of multi-agent systems with and without time-delay. In Proceedings of the World Congress on Intelligent Control and Automation, July 2010, pp. 4342-4347.
45. H. Yu and P. J. Antsaklis, Passivity and L2 stability of networked dissipative systems. In Proceedings of the IEEE International Conference on Control and Automation, June 2010, pp. 584-589.
46. H. Yu and P. J. Antsaklis, A passivity measure of systems in cascade based on passivity indices. In Proceedings of the IEEE Conference on Decision and Control, Dec. 2010, pp. 2186-2191.
47. J. Yu and L. Wang, Group consensus in multi-agent systems with switching topologies and communication delays, Systems and Control Letters 59(6) (June 2010), 340-348.