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Research Papers

Swarm Coordination Under Conflict and Use of Enhanced Lyapunov Control

[+] Author and Article Information
Daniel A. Sierra

Biomedical Engineering Program, University of Connecticut, Storrs, CT 06268; Universidad Industrial de Santander, Bucaramanga 680002, Colombiadasierra@uis.edu.co

Paul McCullough

Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06268paul.t.mccullough@gmail.com

Nejat Olgac1

Department of Mechanical Engineering, University of Connecticut, Storrs, CT 06268olgac@engr.uconn.edu

Eldridge Adams

Department of Ecology and Evolutionary Biology, University of Connecticut, Storrs, CT 06268eldridge.adams@uconn.edu

1

Corresponding author.

J. Dyn. Sys., Meas., Control 133(2), 021004 (Feb 11, 2011) (8 pages) doi:10.1115/1.4003213 History: Received February 25, 2009; Revised September 11, 2010; Published February 11, 2011; Online February 11, 2011

We consider hostile conflicts between two multi-agent swarms. First, we investigate the complex nature of a single pursuer attempting to intercept a single evader (1P-1E), and establish some rudimentary rules of engagement. The stability repercussions of these rules are investigated using a Lyapunov-based stability analysis. Second, we extend the modeling and stability analysis to interactions between multi-agent swarms of pursuers and evaders. The present document considers only swarms with equal membership strengths for simplicity. This effort is based on a set of suggested momenta deployed on individual agents. The control of group pursuit is divided into two phases: the approach phase during which the two swarms act like individuals in the 1P-1E interaction, and the assigned pursuit phase, where each pursuer follows an assigned evader. A simple, single-step dissipative control strategy, which results in undesirable control chatter, is considered first. A distributed control logic is then introduced, in order to ameliorate the chatter problems. In this new logic, the dissipative control action is spread out over a time window. A wide range of case studies is tested in order to quantify the parametric effects of the new strategy.

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Copyright © 2011 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

The momentum profiles as in Eq. 1 for bep=6, cep=0.5, bpe=10, cpe=1

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Figure 2

Capture time as a function of the initial distance between agents ds=‖y(t=0)‖ for δep=1.67 and δpe=2.37

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Figure 3

Sample momentum profiles for interaction between like members, for app=0.1, bpp=30, cpp=5, aee=0.1, bee=30, cee=10. Note that d=‖u‖ and d=‖v‖, for gpp(.) and gee(.), respectively.

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Figure 4

Function trans(d), from Eq. 8, d0=3

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Figure 5

Phase 1 analysis for the parameter set in Table 1. δEP=12.25 and δPE=13.42. Left: net moment on the swarm and right: approach time tapp corresponding to the duration of phase 1. Note that d=‖y¯‖ and ds=‖y¯(t=0)‖.

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Figure 6

Windowed damping strategy

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Figure 7

Depiction of the windowed technique with update in damping

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Figure 8

Damping control momenta on pursuer x2 for L=1 and L=6

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Figure 9

(A) The Lyapunov function variations for L=1, L=6, and no damping and (B) the corresponding violation flags

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