Trust Consensus Protocol for Heterogeneous Underwater Robotic Systems
نویسندگان
چکیده
منابع مشابه
Third-order Decentralized Safe Consensus Protocol for Inter-connected Heterogeneous Vehicular Platoons
In this paper, the stability analysis and control design of heterogeneous traffic flow is considered. It is assumed that the traffic flow consists of infinite number of cooperative non-identical vehicular platoons. Two different networks are investigated in stability analysis of heterogeneous traffic flow: 1) inter-platoon network which deals with the communication topology of lead vehicles and...
متن کاملAdaptive Distributed Consensus Control for a Class of Heterogeneous and Uncertain Nonlinear Multi-Agent Systems
This paper has been devoted to the design of a distributed consensus control for a class of uncertain nonlinear multi-agent systems in the strict-feedback form. The communication between the agents has been described by a directed graph. Radial-basis function neural networks have been used for the approximation of the uncertain and heterogeneous dynamics of the followers as well as the effect o...
متن کاملAdaptive Control of Nonlinear Underwater Robotic Systems
The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF) is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modelled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1) an adaptive passivity-based control scheme and (2) deriving a hybrid (adaptive and ...
متن کاملA computational framework for simulation of Underwater Robotic Vehicle systems
This paper presents a computational framework for eeciently simulating the dynamics and hydrodynamics of Underwater Robotic Vehicle (URV) systems. Through the use of object-oriented mechanisms , a very general yet eecient version of the Articulated-Body (AB) algorithm has been implemented. An eecient solution to branching within chains is developed in the paper so that the algorithm can be used...
متن کاملA Consensus Protocol for CAN-Based Systems
Consensus is known to be a fundamental problem in fault-tolerant distributed systems. Solving this problem provides the means for distributed processes to agree on a single value. This, however, requires extra communication efforts. For some real-time communication networks such efforts may have undesirable performance implications due to their limited bandwidth. This is certainly the case with...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2016
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2016.10.427