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Authors: Sergey Vlasov ; Alexey Margun ; Aleksandra Kirsanova and Polina Vakhvianova

Affiliation: Faculty of Control Systems and Robotics, ITMO University, Kronversky Pr. 49, St. Petersburg, 197101 and Russia

Keyword(s): Adaptive Control, Robotics, Robust Control, Parametric Uncertain.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 198-205. DOI: 10.5220/0007827701980205

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Vlasov, S.
AU - Margun, A.
AU - Kirsanova, A.
AU - Vakhvianova, P.
PY - 2019
SP - 198
EP - 205
DO - 10.5220/0007827701980205
PB - SciTePress

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