Open AccessBUILDING A MULTI-ROBOT SYSTEM BASED ON STOCHASTIC SUPER-TWIST EVENT MODE CONTROLLER
Author(s) -
L. Virabyan,
V. Demin
Publication year - 2020
Publication title -
vestnik bgtu im. v.g. šuhova
Language(s) - English
Resource type - Journals
ISSN - 2071-7318
DOI - 10.34031/2071-7318-2020-5-10-63-71
Subject(s) - randomness , controller (irrigation) , control theory (sociology) , computer science , event (particle physics) , network packet , mode (computer interface) , robot , limit (mathematics) , control engineering , control (management) , engineering , mathematics , artificial intelligence , computer network , mathematical analysis , statistics , physics , quantum mechanics , agronomy , biology , operating system
This article presents the development of a "Super-Twist" controller based on stochastic events to solve the problem of building control in a network multi-agent system in the presence of an external disturbance. The stochasticity in the system is introduced by randomness of network uncertainties i.e. losses and delays of data packets. The proposed controller structure consists of two parts. The first part outputs an event trigger condition for updates to the input control data of each agent in the system. The second part guarantees the desired construction in a finite time by determining the upper limit of the time to reach the specified sliding surface of each agent. The proposed stochastic design is tested on mobile robots. The results show a triple efficiency of the stochastic structure. They are a) retaining the advantages of event-triggering strategy, b) retaining the advantages of super-twisting sliding mode controller, and c) robust towards network uncertainties