TY - GEN
T1 - Stability and Convergence Analysis of a Decentralized Proportional-Integral Control Strategy for Collective Transport
AU - Farivarnejad, Hamed
AU - Berman, Spring
N1 - Funding Information:
This research was supported by ONR Young Investigator Award N00014-16-1-2605.
Publisher Copyright:
© 2018 AACC.
PY - 2018/8/9
Y1 - 2018/8/9
N2 - In this paper, we study the stability and convergence properties of a decentralized proportional-integral velocity controller for collective transport by a team of point-mass robots that are rigidly attached to a payload. The controller only requires robots' velocity measurements, and the only information provided to the robots is the target speed and direction of transport. We prove that the closed-loop system with proportional control alone is exponentially stable, and we derive the system's rate of convergence to the desired transport velocity. We analyze the parameters that affect this convergence rate and characterize its dependence on the robots' distribution around the payload. We add an integral controller to the proportional controller to compensate for any drift from the desired transport path and prove asymptotic stability in this case. We validate our analytical results for the proportional controller through simulations with three different robot distributions around the payload. These simulations demonstrate that the robots' distribution has the predicted effect on the convergence rate, which influences the load's rotation and drift from the desired path during the transient phase of transport. We also confirm through simulation that the proportional-integral controller drives this drift to zero while achieving the desired transport velocity.
AB - In this paper, we study the stability and convergence properties of a decentralized proportional-integral velocity controller for collective transport by a team of point-mass robots that are rigidly attached to a payload. The controller only requires robots' velocity measurements, and the only information provided to the robots is the target speed and direction of transport. We prove that the closed-loop system with proportional control alone is exponentially stable, and we derive the system's rate of convergence to the desired transport velocity. We analyze the parameters that affect this convergence rate and characterize its dependence on the robots' distribution around the payload. We add an integral controller to the proportional controller to compensate for any drift from the desired transport path and prove asymptotic stability in this case. We validate our analytical results for the proportional controller through simulations with three different robot distributions around the payload. These simulations demonstrate that the robots' distribution has the predicted effect on the convergence rate, which influences the load's rotation and drift from the desired path during the transient phase of transport. We also confirm through simulation that the proportional-integral controller drives this drift to zero while achieving the desired transport velocity.
UR - http://www.scopus.com/inward/record.url?scp=85052569087&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85052569087&partnerID=8YFLogxK
U2 - 10.23919/ACC.2018.8431618
DO - 10.23919/ACC.2018.8431618
M3 - Conference contribution
AN - SCOPUS:85052569087
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 2794
EP - 2801
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Annual American Control Conference, ACC 2018
Y2 - 27 June 2018 through 29 June 2018
ER -