Synthesized Optimal Control by Group Interaction of Quadcopters

The problem of optimal control for interaction of three robots is considered. To solve the problem, the synthesized optimal control method is used. According to this method, firstly the synthesis problem of control system for each robot is solved. The synthesized control system allows to stabilize robot relatively some point in the state space. On the second stage positions of some stabilization points are found in the state space such that at switching these points from one to the next through a set time interval, robots move a cargo from initial position to terminal one with optimal value of quality criterion. For the solution of the synthesis problem the symbolic regression method is used. All phase constraints describing group interaction and obstacles, have included in quality criterion as a penalty functions. For searching positions of the points the evolutionary algorithm particle swarm optimization is used. © 2020 IEEE.

Авторы
Сборник материалов конференции
Издательство
Institute of Electrical and Electronics Engineers Inc.
Язык
Английский
Страницы
235-240
Статус
Опубликовано
Номер
9263924
Год
2020
Организации
  • 1 Federal Research Center Computer Science and Control, Russian Academy of Sciences, Department of Robotics, Moscow, 119333, Russian Federation
  • 2 Friendship University of Russia, Rudn University, Department of Mechanics and Mechatronics of Peoples, Moscow, 117198, Russian Federation
Ключевые слова
Drones; Particle swarm optimization (PSO); Regression analysis; Robots; Group interaction; Optimal control methods; Optimal controls; Optimal values; Penalty function; Quality criteria; Symbolic regression; Synthesis problems; Control system synthesis
Дата создания
20.04.2021
Дата изменения
20.05.2021
Постоянная ссылка
https://repository.rudn.ru/ru/records/article/record/71792/
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