Adaptive Controller for Uncertain Multi-agent System Under Disturbances

Sergey Vlasov, Alexey Margun, Aleksandra Kirsanova, Polina Vakhvianova

Abstract

This research is devoted to solving the problem of adaptive control algorithm synthesis for a mobile robots that is part of a multi-agent system. Proposed approach consists of trajectory planner and inner agent controller. The case of the passway intersection by the group of mobile robots is considered. Trajectory planner is based on intersection management approach. Adaptive consecutive compensator used for agent controller synthesis. Proposed approach provides control scheme which doesn’t depend on plant parameters. A group of mobile robots is built for experimental evaluation of proposed approach. Obtained results confirm effectiveness of the developed algorithms.

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Paper Citation


in Harvard Style

Vlasov S., Margun A., Kirsanova A. and Vakhvianova P. (2019). Adaptive Controller for Uncertain Multi-agent System Under Disturbances.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 198-205. DOI: 10.5220/0007827701980205


in Bibtex Style

@conference{icinco19,
author={Sergey Vlasov and Alexey Margun and Aleksandra Kirsanova and Polina Vakhvianova},
title={Adaptive Controller for Uncertain Multi-agent System Under Disturbances},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={198-205},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007827701980205},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Adaptive Controller for Uncertain Multi-agent System Under Disturbances
SN - 978-989-758-380-3
AU - Vlasov S.
AU - Margun A.
AU - Kirsanova A.
AU - Vakhvianova P.
PY - 2019
SP - 198
EP - 205
DO - 10.5220/0007827701980205