Academic literature on the topic 'Commande cooperative distribuée'
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Journal articles on the topic "Commande cooperative distribuée"
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Wei, Xing, Yongji Wang, Shuai Dong, and Lei Liu. "A Three-Dimensional Cooperative Guidance Law of Multimissile System." International Journal of Aerospace Engineering 2015 (2015): 1–8. http://dx.doi.org/10.1155/2015/479427.
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In order to conduct saturation attacks on a static target, the cooperative guidance problem of multimissile system is researched. A three-dimensional guidance model is built using vector calculation and the classic proportional navigation guidance (PNG) law is extended to three dimensions. Based on this guidance law, a distributed cooperative guidance strategy is proposed and a consensus protocol is designed to coordinate the time-to-go commands of all missiles. Then an expert system, which contains two extreme learning machines (ELM), is developed to regulate the local proportional coefficient of each missile according to the command. All missiles can arrive at the target simultaneously under the assumption that the multimissile network is connected. A simulation scenario is given to demonstrate the validity of the proposed method.
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Tedesco, Francesco, and Alessandro Casavola. "A Cooperative Game Theoretical Approach to Distributed Iterative Command Governor Schemes." IFAC Proceedings Volumes 47, no. 3 (2014): 9406–11. http://dx.doi.org/10.3182/20140824-6-za-1003.01818.
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Bouteraa, Yassine, Jawhar Ghommam, Gérard Poisson, and Nabil Derbel. "Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators." Journal of Robotics 2011 (2011): 1–10. http://dx.doi.org/10.1155/2011/652785.
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This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.
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Ni, Pengcheng, Zhiyuan Ye, Can Cao, Zhimin Guo, Jian Zhao, and Xing He. "Cooperative Game-Based Collaborative Optimal Regulation-Assisted Digital Twins for Wide-Area Distributed Energy." Energies 16, no. 6 (March 9, 2023): 2598. http://dx.doi.org/10.3390/en16062598.
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With the wide use of renewable energy sources and the requirement for energy storage technology, the field of power systems is facing the need for further technological innovation. This paper proposes a wide-area distributed energy model based on digital twins. This model was constructed to more fully optimize the coordination of wide-area distributed energy in order to rationally deploy and utilize new energy units. Moreover, the minimization of the power deviation between the dispatch command and the actual power regulation output was also taken into account. In contrast to previous dispatch research, the cooperative game co-optimization algorithm was applied to this model, enabling a distributed approach that can quickly obtain a high-quality power command scheduling scheme. Finally, the simulation and comparison experiments using this algorithm with the wide-area distributed energy (WDE) model showed that it had the advantages of significantly reducing the tracking error, average error, and total error and effectively improving the tracking accuracy. The proposed method can help reduce total power deviations by about 61.1%, 55.7%, 53.1%, and 74.8%.
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Ru, Chang-jian, Xiao-ming Qi, and Xu-ning Guan. "Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target." International Journal of Aerospace Engineering 2015 (2015): 1–12. http://dx.doi.org/10.1155/2015/317953.
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To reduce the impact of uncertainties caused by unknown motion parameters on searching plan of moving targets and improve the efficiency of UAV’s searching, a novel distributed Multi-UAVs cooperative search control method for moving target is proposed in this paper. Based on detection results of onboard sensors, target probability map is updated using Bayesian theory. A Gaussian distribution of target transition probability density function is introduced to calculate prediction probability of moving target existence, and then target probability map can be further updated in real-time. A performance index function combining with target cost, environment cost, and cooperative cost is constructed, and the cooperative searching problem can be transformed into a central optimization problem. To improve computational efficiency, the distributed model predictive control method is presented, and thus the control command of each UAV can be obtained. The simulation results have verified that the proposed method can avoid the blindness of UAV searching better and improve overall efficiency of the team effectively.
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Liu, Xiang, and Xiaogeng Liang. "Integrated Guidance and Control of Multiple Interceptors with Impact Angle Constraints Considered." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 37, no. 2 (April 2019): 273–82. http://dx.doi.org/10.1051/jnwpu/20193720273.
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To solve the multi-interceptor coordination problem and to intercept the target with impact angle constraint, a novel distributed cooperative control algorithm with impact angle constraint based on integrated guidance and control is proposed. First, the mathematic model of integrated guidance and control is established by combining the interceptor-target relative motion model with the dynamic equation of the interceptor on pitch plane. The time varying gain extended state observer is developed to estimate and compensate the unknown disturbance. Based on the estimated value and fast nonsingular dynamic surface sliding control method, the IGC algorithm of leader is given; Then, based on distributed cooperative "leader-follower" model, the cooperative control strategy of multi-interceptor is designed, and gives out speeds in two directions on pitch plane, which are transformed to the command of total velocity and trajectory angle based on kinematic relations. Finally, to control the follower, the time varying gain extended state observer and the dynamic surface sliding control method are adopted. The simulation results demonstrate the effectiveness of the distributed cooperative control algorithm.
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Jin, Ruixian, and Jun Su. "Self-organizing Coalition Formation based on Non-cooperative Games in Social Networks." Advances in Engineering Technology Research 4, no. 1 (March 22, 2023): 380. http://dx.doi.org/10.56028/aetr.4.1.380.2023.
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In multi-agent systems, the individual agent must form coalitions to accomplish complex tasks. However, the centralized management model is not flexible in a dynamic environment. To overcome the restriction caused by central control, the paper presents a self-organizing dynamic coalition mechanism based on game theory. Firstly, we adopt a distributed network to communicate among agents, allowing agents to solve the real-time task assignment problem autonomously. Next, a non-cooperative game negotiation model is introduced to find the optimal strategy for each agent. Finally, the effectiveness of our mechanism is validated by comparing it with the traditional command model in three distributed networks. Experimental results indicate the proposed mechanism is capable to improve the system utility.
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Xia, Meizhen, Zhucheng Liu, and Tianping Zhang. "Distributed adaptive cooperative control via command filters for multi-agent systems including input unmodeled dynamics and sensor faults." Applied Mathematics and Computation 457 (November 2023): 128194. http://dx.doi.org/10.1016/j.amc.2023.128194.
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Guo, Mingkun, Guangqing Xia, Feng Yang, Cong Liu, Kai Liu, and Jingnan Yang. "Consensus Cooperative Encirclement Interception Guidance Law for Multiple Vehicles against Maneuvering Target." Applied Sciences 12, no. 14 (July 20, 2022): 7307. http://dx.doi.org/10.3390/app12147307.
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This paper studies a cooperative encirclement interception guidance law against a maneuvering target that utilizes a leader–follower control scheme. The control design is decoupled into two parts. In the line-of-sight (LOS) direction, a fixed-time distributed disturbance observer is presented to estimate the maneuvering of the target. Based on the proposed disturbance observer, the guidance law is designed for the followers to guarantee that each follower’s total flight time achieves consensus with that of the leader. In the normal direction of the LOS, the control command is designed to realize the encirclement interception with a predefined-time consensus protocol. The convergence of the guidance algorithm is proven by the Lyapunov stability theory. Numerical simulations are provided to demonstrate the effectiveness and superiority of the proposed cooperative-guidance law.
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Sun, Dongyang, Wenyuan Zheng, Jixuan Yu, and Ji Li. "Research on the Primary Frequency Regulation Control Strategy of a Wind Storage Hydrogen-Generating Power Station." Electronics 11, no. 22 (November 10, 2022): 3669. http://dx.doi.org/10.3390/electronics11223669.
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Wind curtailment and weak inertia characteristics are two factors that shackle the permeability of wind power. An electric hydrogen production device consumes electricity to produce hydrogen under normal working conditions to solve the problem of abandoning wind. When participating in frequency regulation, it serves as a load reduction method to assist the system to rebuild a power balance and improve the wind power permeability. However, due to its own working characteristics, an electric hydrogen production device cannot undertake the high-frequency component of the frequency regulation power command; therefore, an energy storage device was selected to undertake a high-frequency power command to assist the electric hydrogen production device to complete the system frequency regulation. This paper first proposes and analyzes the architecture of a wind storage hydrogen-generating station for centralized hydrogen production with a distributed energy storage, and proposes the virtual inertia and droop characteristic mechanism of the wind storage hydrogen-generating station to simulate a synchronous unit. Secondly, an alkaline electrolysis cell suitable for large-scale engineering applications is selected as the research object and its mathematical model is established, the matching between different energy storage devices and their cooperation in power grid frequency regulation is analyzed, and a super capacitor is selected. A control strategy for the wind storage hydrogen-generating power station to participate in power grid frequency regulation with a wide time scale is then proposed. Using the first-order low-pass filter, the low-frequency component of the frequency regulation power command is realized by an electric hydrogen production device load reduction, and a high-frequency component is realized by the energy storage device. Finally, the effectiveness and rationality of the proposed control strategy are verified by establishing the simulation model of the wind storage hydrogen-generating power station with different initial wind speed states, comparing the system frequency dip values under the proposed multi-energy cooperative control strategy and a single energy device control strategy.
Dissertations / Theses on the topic "Commande cooperative distribuée"
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Bouteraa, Yassine. "Commande distribuée et synchronisation de robots industriels coopératifs." Thesis, Orléans, 2012. http://www.theses.fr/2012ORLE2082/document.
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Cette thèse développe les lois de coordination de systèmes de Lagrange. Elle propose en premier lieu une stratégie complètement décentralisée qui se base sur la technique de cross-coupling pour la commande d'un groupe de robots, appelé réseau, qui synchronisent leurs mouvements en suivant une trajectoire désirée. Cette stratégie est étendue pour faire face à l'incertitude paramétrique des robots ainsi qu’aux retards fréquemment rencontrés dans les applications pratiques de réseaux de communication. Une deuxième architecture basée sur la théorie des graphes est proposée pour les réseaux à leader. L'approche développée est considérée hybride. Une extension adaptative à base de réseaux de neurones est développée pour traiter les cas d'incertitude paramétrique. La stratégie conçue prend en considération les délais dans la réception des données. En se basant sur la notion de système en chaîne, la théorie des graphes, le concept de la passivité et la technique du backstepping, une nouvelle méthodologie de la conception de contrôleur de synchronisation pour une classe de systèmes sous-actionnés est développée. Afin d’avoir la possibilité d’implémenter ces stratégies de contrôle, on a développé une plate-forme d'expérimentation pour la robotique industrielle coopérativeThis thesis investigates the issue of designing decentralized control laws to cooperatively control a team of robot manipulators. The purpose is to synchronize their movements while tracking common desired trajectory. Based on a combination of Lyapunov direct method and cross-coupling technique, To account for unmatched uncertainties, the proposed decentralized control laws are extended to an adaptive synchronization tracking controllers. Moreover, due to communication imperfection, time delay communication problems are considered in the performance analysis of the controllers. Another relevant problem for distributed synchronized systems is the leader-follower control problem. In this strategy, a decentralized control laws based on the backstepping scheme is proposed to deal with a leader-follower multiple robots structure. Based on graph theory, the coordination strategy combines the leader follower control with the decentralized control. The thesis, also considers the cooperative movement of under- actuated manipulators tracking reference trajectories defined by the user. The control problem for a network of class of under-actuated systems is considered. The approach we adopted in this thesis consists in decomposing the under-actuated manipulators into a cascade of passive subsystems that synchronize with he other neighbors subsystems. The resulting synchronized control law is basically a combination of non-regular backstepping procedure aided with some concepts from graph theory. The proposed controllers are validated numerically, assuming that the underlying communication graph is strongly connected. To implement these control strategies, we developed an experimental platform made of three robot manipulators
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Ding, Haiyang. "Commande prédictive distribuée pour un réseau de systèmes partiellement coopératifs." Thesis, Grenoble, 2013. http://www.theses.fr/2013GRENT027.
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Une structure de contrôle distribué partiellement coopérative est proposée dans cette thèse. La structure est consacrée au problème de commande d’un réseau composé de sous-systèmes non linéaires/linéaires qui sont interconnectés par leurs états et les entrées de commande. Par la coopération partielle, cela signifie que chaque sous-système est capable de préserver son propre objectif en utilisant un indice de la coopération ajustable qui définit dans quelle mesure il accepte de dégrader son propre niveau de performance afin d’aider ses voisins à maintenir leur intégrité sous les interconnexions potentiellement déstabilisantes. La communication entre les sous-systèmes est basée sur l’échange de niveaux de fonction de Lyapunov avec les contraintes associées et la quantité d’information transmise est plutôt réduite par rapport aux travaux les plus récents. Une autre caractéristique intéressante de cet structure de contrôle distribué non linéaire coopératif est l’utilisation de vecteurs prioritaires par chaque sous-système. Ce vecteur définit un ordre hiérarchique de l’importance de ses voisins menant à une stratégie de coopération dans lequel les sous-systèmes critiques dans le réseau peuvent être préservés en dépit des interactions. Une version linéaire de la structure de contrôle distribué coopératif est présenté. Cette conception de structure linéaire conduit à une évaluation rigoureuse de stabilité du réseau en boucle fermée globale. Une méthode d’amélioration de la stabilité est proposée basée sur la résolution d’un problème d’optimisation non convexe avec des degrés de liberté liés au paramétrage de l’affectation de priorité. Pour montrer son efficacité, le contrôle distribué coopératif proposé pour le réseau linéaire est appliqué pour traiter le problème de contrôle de la fréquence de charge dans un réseau d’alimentation et le problème de contrôle du système cryogéniqueIn this dissertation, a partially cooperative distributed control framework is proposed. The framework is dedicated to the control problem for a network consisting of linear/nonlinear subsystems that are interconnected through their states and control inputs. By partial cooperation, it means that each subsystem is able to preserve its own objective while using a tunable cooperation index that defines to what extend it accepts to degrade its own performance level so as to help its neighbors maintain their integrity under potentially destabilizing interconnections. The communication between the subsystems is rather reduced comparing to most of the existing contributions. Another attractive feature of the proposed framework is that each subsystem in the network can be assigned with priority indicating the importance of the corresponding subsystem seen by its neighbors. Through proper parameterization of the priority assignment, improved performance of the subsystems and the network can be acheived. In the linear version, a rigorous stability assessment method is presented and a systematic way of proposing an optimized priority assignment for a given network is introduced as well. The proposed scheme is applied to handle the load frequency control problem in a 4-area power network and the control problem of a cryogenic system to illustrate its effectiveness
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Fabbiano, Ruggero. "Collaborative source-seeking control." Thesis, Université Grenoble Alpes (ComUE), 2015. http://www.theses.fr/2015GREAT038/document.
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Cette dissertation fait face au problème de la localisation de sources, un sujet qui a été largement étudié dans la littérature récente au vu de son grand nombre d'applications. En particulier, ce travail se concentre sur le pilotage de multiples capteurs, capables de prendre des mesures ponctuelles de la quantité émise, vers la source sans faire usage d'aucune information de position, qui se trouve être indisponible dans de nombreux cas pratiques (par exemple, sous l'eau ou dans l'exploration souterraine). En faisant quelques hypothèses sur le processus de diffusion, nous développons un modèle qui permet d'utiliser des outils mathématiques (l'intégrale de Poisson et ses dérivées) pour obtenir une simple approximation du gradient de la fonction décrivant le processus de diffusion, dont la source représente le maximum, ce qui permet d'utiliser l'algorithme du gradient et trouver l'emplacement de la source. Les contributions sont de trois ordres : d'abord, nous utilisons ces outils pour résoudre le problème de la recherche d'une source en deux dimensions à travers d'un contrôle centralisé, où un seul véhicule, équipé de multiples capteurs et sans information de position, se déplace dans un environnement planaire où se trouve une source. Ensuite, nous étendons cette recherche à un cadre en trois dimensions, en considérant un engin volant équipé de capteurs qui se déplace dans l'espace ; pour ce cas plus général, outre la validation par simulations, nous fournissons également une étude théorique des propriétes de convergence de la loi de commande proposée. Enfin, nous abordons le problème de la localisation de source de façon distribuée, compte tenu de plusieurs capteurs autonomes mobiles (en deux dimensions) ; outre le problème de mettre en oeuvre l'algorithme de localisation de source de manière distribuée, nous devons garantir un contrôle de la formation approprié pour assurer l'exactitude de l'estimation du gradient, et donc atteindre la source.}The dissertation faces the problem of source localisation, a topic which has been extensively studied in recent literature due to its large number of applications. In particular, it focuses on steering multiple sensors, able to take point-wise measurements of the emitted quantity, towards the source without making use of any position information, which happens to be unavailable in many practical cases (for example, underwater or underground exploration). By making some assumptions on the diffusion process, we develop a model which allows us to use some mathematical tools (the Poisson integral and its derivatives) for a simple approximation of the gradient of the function describing the diffusion process, whose source represents its maximum, making it possible to perform a gradient ascent to find the source location. The contributions are threefold: first, we use such tools to solve a 2-dimensional centralised source-seeking problem, where a single vehicle, equipped with multiple sensors and without position information, is moving in a planar environment where a source is supposed to emit. Then, we extend it to a 3-dimensional framework, considering a flying vehicle equipped with sensors moving in the space; for this more general case, in addition to simulation validation, we provide a theoretical study of the convergence properties of the proposed control law. Finally, we tackle the distributed source-localisation problem, considering several autonomous moving sensors (in two dimensions); in addition to the problem of implementing the source-localisation algorithm in a distributed manner, in this latter case we have also to guarantee a suitable formation control, to ensure the correctness of the gradient estimation and hence reach the source
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Benahmed, Sif Eddine. "Distributed Cooperative Control for DC Microgrids." Electronic Thesis or Diss., Université de Lorraine, 2021. http://www.theses.fr/2021LORR0056.
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Au cours des dernières années, le réseau électrique connait une transformation rapide avec la pénétration massive des unités de production renouvelables et distribuées. Le concept de microgrids (micro-réseau électrique) est un élément clés de cette transition énergétique. Ces micro-réseaux sont constitués par un ensemble de plusieurs unités de production distribuées (DGUs), d'unités de stockage (SUs) et de charges interconnectées par des lignes électriques. Un microgrid peut être installé dans plusieurs endroits, par exemple dans des maisons, des hôpitaux, des quartiers, etc. et fonctionne soit en mode connecté au réseau principale, soit en mode isolé (autonome). Les microgrids sont confrontés à plusieurs défis liés à la garantie de la stabilité, la cybersécurité, l'optimisation des coûts énergétiques, la gestion de l'énergie, la qualité de l'énergie, etc. Dans ce travail, nous concentrons notre attention sur le contrôle des microgrids à courant continu en mode de fonctionnement autonome. La principale contribution de cette thèse est l’établissement de lois de commande par retour d’état distribuées assurant un partage de courant proportionnel entre les unités de production, une régulation de la tension moyenne des lignes et un équilibrage simultané des états de charge des éléments de stockage. En partant de l'hypothèse que les agents (DGU ou SU) ont les mêmes paramètres physiques, la preuve de la convergence exponentielle et globale est donnée en l’absence d’une connaissance de la charge présente sur le réseau. La thèse est divisée en trois parties. La première partie présente le concept des microgrids, un état de l’art sur leurs stratégies de contrôle et les préliminaires mathématiques nécessaires tout au long du manuscrit. La deuxième partie constitue la contribution théorique de cette thèse et aborde la synthèse de lois de contrôle distribuées, garantissant les objectifs envisagés en l’absence d’une connaissance de la charge variable sur le réseau et même en cas de perturbation constantes au niveau de l’entrée de commande. Cette garantie est apportée en considérant trois actions intégrales distribuées de type consensus. Dans la troisième partie, les contrôleurs proposés sont évalués dans différents scénarios par le biais de simulation Matlab/Simulink et de tests Hardware-in-the-Loop (HIL) en temps réel. Les résultats montrent que les objectifs de contrôle sont atteints avec succès, ce qui illustre l'efficacité de la méthodologie de contrôle proposéeIn recent years, the power grid has undergone a rapid transformation with the massive penetration of renewable and distributed generation units. The concept of microgrids is a key element of this energy transition. Microgrids are made up of a set of several distributed generation units (DGUs), storage units (SUs) and loads interconnected by power lines. A microgrid can be installed in several locations, for example in houses, hospitals, a neighborhood or village, etc., and operates either in connected mode to the main grid or in isolated (autonomous) mode. Microgrids are facing several challenges related to stability assurance, cyber-security, energy cost optimization, energy management, power quality, etc. In this work, we focus our attention on the control of islanded direct current microgrids. The main contribution is the design of a new distributed control approach to provably achieve current sharing, average voltage regulation and state-of-charge balancing simultaneously with global exponential convergence. The main tools are consensus in multi-agent systems, passivity, Lyapunov stability, linear matrix inequalities, etc. The thesis is divided into three parts. The First part presents the concept of microgrids, a literature review of their control strategies and the mathematical preliminaries required throughout the manuscript. The second part deals with the design of the proposed distributed control approach to achieve the considered objectives. The system is augmented with three distributed consensus-like integral actions, and a distributed-based static state feedback control architecture is proposed. Starting from the assumption that the agents (DGUs or SUs) have the same physical parameters, we provide proof of global exponential convergence. Moreover, the proposed control approach is distributed, i.e., each agent exchange relative information with only its neighbors through sparse communication networks. The proposed controllers do not need any information about the parameters of the power lines neither the topology of the microgrid. The control objectives are reached despite the unknown load variation and constant disturbances. In the third part, the proposed distributed controllers are assessed in different scenarios through Matlab/Simulink simulation and real-time Hardware-in-the-Loop experiment. The results show that the control objectives are successfully achieved, illustrating the effectiveness of the proposed control methodology
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Ibenthal, Julius. "Multi-target tracking by non-linear set-membership methods." Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPAST124.
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La recherche et le suivi de cibles mobiles constituent une tâche d'intérêt mais notablement difficile parmi les diverses applications des robots. Cette thèse considère la recherche et le suivi d'un nombre inconnu de cibles mobiles se déplaçant dans une zone délimitée par une flotte coopérative de véhicules aériens sans pilote (UAV). Des schémas d'estimation et de contrôle distribués sont présentés. Les schémas d'estimation reposent sur l'hypothèse que les perturbations d'état et les bruits de mesure sont bornés. Des estimateurs distribués robustes ensemblistes sont utilisés pour caractériser l'ensemble garanti de contenir les cibles. Les estimations ensemblistes sont mises à jour par chaque drone à l'aide des informations recueillies par ses propres capteurs et par les drones voisins. Les trajectoires des UAVs sont calculées en utilisant des approches de contrôle prédictif de modèle. Les lois de commande sont conçues afin de diminuer l'incertitude d'estimation des cibles inconnues, non encore détectées, et des cibles déjà connues et faisant l'objet d'un suivi. Les schémas d'estimation et de contrôle développés reposent sur de nouveaux modèles détaillés de conditions déterministes d'identification et de détection des cibles. Ces conditions tiennent compte des états du drone et de la cible, des contraintes des capteurs et des obstacles environnementaux. Les estimateurs développés utilisent des mesures de cibles identifiées et non identifiées et sont robustes à la présence de leurres potentiels, qui peuvent être confondus avec les cibles. En outre, le nouveau modèle de détection déterministe permet d'évaluer des estimations ensemblistes garanties de l'emplacement des cibles dans des environnements structurés inconnus, où il est difficile de démontrer l'absence d'une cible à une localisation donnée. Pour effectuer cette estimation, il n'est pas nécessaire de disposer d'une carte de l'environnement ou de la construire. Diverses simulations illustrent la capacité des approches proposées à rechercher et à suivre efficacement un nombre inconnu de cibles mobiles dans une zone de recherche délimitée. De plus, les résultats obtenus par de premières expérimentations sont présentésSearching and tracking mobile targets remains a challenging task among the various applications for robots. This thesis considers the search and track of an unknown number of targets moving in a bounded area by a cooperative Unmanned Aerial Vehicle (UAV) fleet. Distributed estimation and control schemes are presented. The estimation schemes rely on the assumption that state perturbations and measurement noises are bounded. Robust distributed set-membership estimators are used to evaluate set estimates that are guaranteed to contain the target states. The set estimates are updated by each UAV using information collected from its sensors and from the neighboring UAVs. The trajectories of the UAVs are designed using model predictive control approaches. The control is designed to decrease the estimation uncertainty of the unknown, not yet detected targets and known, tracked targets.The developed estimation and control schemes rely on new detailed models of deterministic identification and detection conditions of the targets. These conditions account for UAV and target states, sensor constraints, and environmental obstacles. The developed estimators utilize measurements of identified and unidentified targets and are robust to the presence of potential decoys, which may be confused with the targets. Furthermore, the new deterministic detection model allows the evaluation of guaranteed set estimates of target locations in unknown structured environments, where it is challenging to demonstrate the absence of a target at a given location. To estimate the target locations, neither having nor building a map of the environment is necessary.Various simulations illustrate the ability of the proposed approaches to efficiently search and track an unknown number of moving targets within some delimited search area. Additionally, preliminary experimental studies are carried out
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Rochefort, Yohan. "Méthodes pour le guidage coopératif." Phd thesis, Supélec, 2013. http://tel.archives-ouvertes.fr/tel-00934428.
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L'objectif de cette thèse est de définir puis d'étudier les performances de méthodes de guidage coopératif de véhicules aériens autonomes. L'intérêt du guidage coopératif est de confier une mission complexe à une flotte, plutôt qu'à un véhicule unique, afin de distribuer la charge de travail et d'améliorer les performances et la fiabilité. Les lois de guidage étudiées sont distribuées sur l'ensemble des véhicules afin d'une part, de répartir la charge de calcul et d'autre part, d'augmenter la fiabilité en éliminant la possibilité de perte de l'organe central de calcul de la commande.La première partie de la thèse porte sur les possibilités offertes par la règle des plus proches voisins. La loi de guidage développée consiste à ce que la commande de chaque véhicule soit élaborée en combinant les états des véhicules voisins. Afin de transmettre des consignes au groupe de véhicules, des objets dénommés agents virtuels sont introduits. Ceux-ci permettent de représenter des obstacles, d'indiquer une direction ou une cible au groupe de véhicules en utilisant des mécanismes déjà présent dans la loi de guidage.La seconde partie de la thèse porte sur les possibilités offertes par la commande prédictive. Ce type de commande consiste à employer un modèle du comportement du système afin de prédire les effets de la commande, et ainsi de déterminer celle qui minimise un critère de coût en respectant les contraintes du système. La loi de guidage développée emploi un critère de coût tenant compte et arbitrant entre les différents aspects de la mission (sécurité, progression de la mission, modération de la commande), et une procédure de recherche de la commande utilisant jeu prédéfinis de commandes candidates afin d'explorer l'espace de commande de manière efficace. Cette procédure, distincte des algorithmes d'optimisation habituels, génère une charge de calcul faible et constante, ne nécessite pas d'étape d'initialisation et est très peu sensible aux minima locaux.
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Wen, Guoguang. "Distributed cooperative control for multi-agent systems." Phd thesis, Ecole Centrale de Lille, 2012. http://tel.archives-ouvertes.fr/tel-00818774.
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Cette thèse considère principalement trois problèmes dans le domaine du contrôle distribué coopératif des systèmes multi-agents(SMA): le consensus, la navigation en formation et le maintien en formation d'un groupe d'agents lorsqu'un agent disparait. Nous proposons 3 algorithmes pour résoudre le problème du calcul distribué d'un consensus à partir de l'approche leadeur-suiveur dans le contexte SMA à dynamique non-linéaire. La référence est définie comme un leader virtuel dont on n'obtient, localement, que les données de position et de vitesse. Pour résoudre le problème du suivi par consensus pour les SMA à dynamique non-linéaire, nous considérons le suivi par consensus pour SMA de premier ordre. On propose des résultats permettant aux suiveurs de suivre le leadeur virtuel en temps fini en ne considérant que les positions des agents. Ensuite, nous considérons le suivi par consensus de SMA de second. Dans le cas de la planification de trajectoire et la commande du mouvement de la formation multi-agents. L'idée est d'amener la formation, dont la dynamique est supposée être en 3D, d'une configuration initiale vers une configuration finale (trouver un chemin faisable en position et orientation) en maintenant sa forme tout le long du chemin en évitant les obstacles. La stratégie proposée se décompose en 3 étapes. Le problème du Closing-Rank se traduit par la réparation d'une formation rigide multi-agents "endommagée" par la perte de l'un de ses agents. Nous proposons 2 algorithmes d'autoréparation systématique pour récupérer la rigidité en cas de perte d'un agent. Ces réparations s'effectuent de manière décentralisée et distribuée n'utilisant que des informations de voisinage.
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Rodrigues, de Campos Gabriel. "Stratégies de commande collaborative pour des systèmes multi-robots." Phd thesis, Université de Grenoble, 2012. http://tel.archives-ouvertes.fr/tel-00981962.
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Cette thèse porte sur des stratégies distribuées pour systèmes multi-robot. Tout d'abord, nous nous focalisons sur des algorithmes de consensus pour des systèmes hétérogènes qui représente, par exemple, différents modèles ou générations de robots. Dans la suite, nous proposons deux solutions pour améliorer les propriétés de connectivité du système. Tout d'abord, nous montrons comment améliorer la vitesse de convergence des algorithmes de consensus en modifiant les protocoles classiques. Plus précisément, nous appliquons le principe de retard stabilisant et nous montrons comment de l'information échantillonné convenablement peut être utilisée dans la design du contrôleur. Enfin, nous concevons et analysons un algorithme pour le déploiement d'agents compact. Dans cette approche, qui augmente le nombre de connexions du graphe, la configuration souhaitée de l'ensemble des robots est entièrement spécifiée par les angles inter-agents. La stratégie proposée est un algorithme complètement distribué, uniquement basée sur l'information locale qui permet l'auto-organisation du système.
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Ballal, Prasanna M. "Decision and control in distributed cooperative systems." 2008. http://hdl.handle.net/10106/1053.
Full textBook chapters on the topic "Commande cooperative distribuée"
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Rao, V. G., S. Goldfarb, and R. D'Andrea. "Abstraction-Based Command and Control with Patch Models." In Cooperative Control of Distributed Multi-Agent Systems, 409–32. Chichester, UK: John Wiley & Sons, Ltd, 2007. http://dx.doi.org/10.1002/9780470724200.ch17.
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Shettigar, Jagadish, and Pooja Misra. "Cooperative Federalism." In Resurgent India, 214—C3.15.P10. Oxford University PressOxford, 2022. http://dx.doi.org/10.1093/oso/9780192866486.003.0045.
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Abstract With India having a federal system of governance in place, both the Centre and States have the freedom to operate and function in their allotted spheres of jurisdiction. Under the federal structure, responsibilities are distributed between the Centre and States, and division of powers is given in the Seventh Schedule of the Constitution in the three lists, i.e. Union List, State List, and Concurrent List. Developmental responsibilities such as healthcare, land policies, law and order are with the States, while the Centre is responsible for defence, foreign affairs, atomic energy, banking, and insurance. For the last three decades, States are being governed by different political parties while the Centre is governed by mostly coalition governments which otherwise means weak in command. To enable smooth administration, it is important that the Centre and States work in coordination with each other. The chapter discusses how keeping aside political differences once in the government, Central and State Governments should work hand in hand so that developmental, as well as welfare measures, are effectively implemented without any unnecessary hurdles.
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Yasuda, Gen'ichi. "A Bio-Inspired, Distributed Control Approach to the Design of Autonomous Cooperative Behaviors in Multiple Mobile Robot Systems." In Encyclopedia of Information Science and Technology, Fourth Edition, 6836–46. IGI Global, 2018. http://dx.doi.org/10.4018/978-1-5225-2255-3.ch592.
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This chapter deals with the design and implementation of bio-inspired control architectures for intelligent multiple mobile robot systems. Focusing on building control systems, this chapter presents a non-centralized, behavior-based methodology for autonomous cooperative control, inspired by the adaptive and self-organizing capabilities of biological systems, which can generate robust and complex behaviors through limited local interactions. With autonomous behavior modules for discrete event distributed control, a modular, Petri net based behavioral control software has been implemented in accordance with a hierarchical distributed hardware structure. The behavior modules with respective pre-conditions and post-conditions can be dynamically connected in response to status events from action control modules at the lower level to achieve the specified overall task. The approach involving planning, control and reactivity can integrate high-level command input with the behavior modules through the distributed autonomous control architecture.
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Yasuda, Gen'ichi. "A Bio-Inspired, Distributed Control Approach to the Design of Autonomous Cooperative Behaviors in Multiple Mobile Robot Systems." In Advanced Methodologies and Technologies in Artificial Intelligence, Computer Simulation, and Human-Computer Interaction, 1058–70. IGI Global, 2019. http://dx.doi.org/10.4018/978-1-5225-7368-5.ch077.
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This chapter deals with the design and implementation of bio-inspired control architectures for intelligent multiple mobile robot systems. Focusing on building control systems, this chapter presents a non-centralized, behavior-based methodology for autonomous cooperative control, inspired by the adaptive and self-organizing capabilities of biological systems, which can generate robust and complex behaviors through limited local interactions. With autonomous behavior modules for discrete event distributed control, a modular, Petri net-based behavioral control software has been implemented in accordance with a hierarchical distributed hardware structure. The behavior modules with respective pre-conditions and post-conditions can be dynamically connected in response to status events from action control modules at the lower level to achieve the specified overall task. The approach involving planning, control, and reactivity can integrate high-level command input with the behavior modules through the distributed autonomous control architecture.
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Yan, Dong, Fajin Gan, Yaming Tian, Huankui Xing, and Haiyu Wu. "Research on the Construction of a Fifth-Dimensional Battlefield Based on UAVs – Integrated Electronic Warfare System to Seize Electronic Magnetic Rights." In Advances in Transdisciplinary Engineering. IOS Press, 2022. http://dx.doi.org/10.3233/atde221174.
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The electromagnetic battlefield is the fifth-dimensional invisible battlefield above the tangible geographical battlefield of land, sea, air and sky. The integrated electronic warfare system is a killer to seize the right to control the electromagnetic properties of the system to the system and the organization to organization in modern war. Unmanned aerial vehicle has significant advantages in terms of endurance, combat distance and mobility, which are more suitable for application in electronic warfare. In this paper, a method of constructing an integrated EW system based on UAVs is proposed, which takes integrated design, integrated control, integrated management and comprehensive application as the core. The single platform is realized through the hardware integrated of general sensors, general antennas, general interfaces and general processers, as well as software drivers of flight management, load management, navigation management and platform management. The multiplatform is realized through satellite platforms, high-altitude and long-endurance UAVs, medium-altitude and long-endurance UAVs, medium-low altitude and long-endurance UAVs, vertical takeoff and landing UAVs, underwater UAVs, ground equipment and vehicle-mounted platforms. By means of combat classification commands, intelligence hierarchical processing and distributed confrontation to make each defense zone and each system can not only fight independently but also command cooperatively. The repeated use of force is reduced, the effective use of intelligence is improved, and the continuous combat force is ensured through the comprehensive management of three armed forces. Through the combination of peace and war, far and near, air and land, soft and hare, and true and false to maximize the effectiveness of integrated electronic warfare system most efficient. Therefore, the method in this paper will surely become a brand-new conceptual weapon with a high cost-effectiveness ratio and both attack and defense, which is of military significance.
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Hayes-Roth, Frederick, Lee D. Erman, Scott Fouse, Jay S. Lark, and James Davidson. "ABE: A COOPERATIVE OPERATING SYSTEM AND DEVELOPMENT ENVIRONMENT**Reprinted from AI Tools and Techniques, M. Richer (ed.), Ablex Publishing, Norwood, NJ, 1988.This is an early description of in-progress research. The ideas described here require experimental testing and will likely change. This does not constitute a commitment by Teknowledge to any product or service. ABE is a trademark of Teknowledge, Inc.This research is partially sponsored by the Air Force Systems Command, Rome Air Development Center, Griffiss Air Force Base, NT 13441-5700 and the Defense Advanced Research Projects Agency, 1400 Wilson Blvd., Arlington, VA 22209, under contract F30602-85-C-0135." In Readings in Distributed Artificial Intelligence, 457–89. Elsevier, 1988. http://dx.doi.org/10.1016/b978-0-934613-63-7.50049-8.
Full textConference papers on the topic "Commande cooperative distribuée"
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Baltzer, Marcel, Eugen Altendorf, Sonja Meier, and Frank Flemisch. "Mediating the Interaction between Human and Automation during the Arbitration Processes in Cooperative Guidance and Control of Highly Automated Vehicles: Base concept and First Study." In Applied Human Factors and Ergonomics Conference. AHFE International, 2021. http://dx.doi.org/10.54941/ahfe100647.
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With increasingly automated vehicles, the cooperation between the automation and the human becomes crucial. In cooperative guidance and control (CGC) of highly automated vehicles the questions arise how authority, responsibility and control are distributed between driver and automation, how this distribution is obtained and how different states like abilities, availabilities and modes are communicated between driver and automation. If two independently thinking entities start planning and acting together, the emergence of conflicts is inevitable. These conflicts can be solved by applying the method of arbitration. Arbitration works with different modalities as well as on different planning levels. To handle the complex interdependencies in human-automation interaction in the guidance and control of highly automated vehicles, an “interaction mediator” was designed to incorporate a framework of modules, which in turn are designed to be easily extendable. These modules are the “Mode Selection and Arbitration Unit”, enabling a proper distribution of responsibility depending on present abilities and availabilities, the “Manoeuvre Selection and Arbitration Unit”, the “Trajectory Adaption and Arbitration Unit”, and the “Coupling Valve” where control commands depending on the distribution of responsibility and control are coupled to one common control command for the entire ego-vehicle.
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Liu, Shufen, Peng Xu, and Xiaojun Li. "Architecture of a distributed framework for a fleet command and control system." In 2010 14th International Conference on Computer Supported Cooperative Work in Design (CSCWD). IEEE, 2010. http://dx.doi.org/10.1109/cscwd.2010.5471901.
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Giacomossi Jr., Luiz, Marcos R. O. A. Maximo, and José F. B. Brancalion. "Cooperative Decision-Making for Drone Swarms." In Anais Estendidos do Simpósio Brasileiro de Robótica e Simpósio Latino-Americano de Robótica. Sociedade Brasileira de Computação, 2023. http://dx.doi.org/10.5753/sbrlars_estendido.2023.235339.
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Unmanned Aerial Vehicles (UAVs) are being researched for their potential in applications like search and rescue, and defense missions. The goal is to enhance the intelligence, communication, and strategic organization. Decision-making techniques enable intelligent UAV decisions, freeing human commanders to focus on higher-level decisions. This research focuses on defense and search and rescue scenarios, and combines AI-based decision-making with UAVs. The study analyze the Loyal Wingman concept in a defense scenario. Also, we propose a solution for a drone swarm to cooperatively search for people in a rescue scenario. Our results demonstrate the effectiveness of distributed decision-making methods in solving problems in both scenarios.
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Chen, Bo, Harry H. Cheng, and Joe Palen. "Agent-Based Real-Time Computing and Its Applications in Traffic Detection and Management Systems." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57707.
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This paper studies the generic architecture and coordination mechanism of an FIPA (Foundation for Intelligent Physical Agents) compliant heterogeneous multi-agent system (MAS) in a distributed control scenario. Proposed generic MAS framework has been applied to a real-time traffic detection and management system. The agent-based real-time traffic detection and management system (ABRTTDMS) is designed for the information fusion of different traffic detection systems on highways to optimize real-time traffic detection and management. ABRTTDMS is a multi-level agent system. The lowest level agents are responsible for processing the real-time traffic data and monitoring traffic conditions. The middle level agents coordinate all of the lowest level agents in a subnetwork. The highest-level agent is located in the transportation management center (TMC) to accept human commands and delegate tasks to lower level agents. The re-configurable hybrid control architecture of the system provides the capability of dynamically grouping distributed heterogeneous agents (intelligent control systems) into virtual clusters to accomplish tasks related to different geographical areas and different purposes. A platform independent agent execution engine has been implemented using an embeddable C/C++ interpreter called Ch. The communication between agents that reside on different hosts has been simulated in the Integration Engineering Laboratory at the University of California, Davis. The use of agent technology greatly enhances the distributed computing and cooperation capabilities of traffic detection and management systems.
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Stefan, Antoniu, Ion Roceanu, Alessandra Tesei, Alessandra Barbieri, and Daniel Beligan. "STANDARDS IN PRACTICE: A SERIOUS GAME PERSPECTIVE." In eLSE 2013. Carol I National Defence University Publishing House, 2013. http://dx.doi.org/10.12753/2066-026x-13-120.
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Serious Games, unlike entertainment games, necessitate the implementation of specific educational and technical requirements related to pedagogical constructs, learners' assessment and standardization. The authors present a case study based on the premises that the application of standards and interoperability has the potential to improve ease of development and of use, while lowering overall cost. The scope of this study has been to investigate key interoperability challenges encountered when implementing a SCORM (Sharable Content Object Reference Model) compliant game on a Learning Management System (LMS). MAN has carried out a case study on the implementation of the "Cultural Awareness Training - Afghanistan" game on the ILIAS (Integrated Learning, Information and Work Cooperation System) platform of the "Carol I" National University of Defence in Romania. The Cultural Awareness Training is part of the Afghanistan Pre-Deployment Course developed by the Joint Advanced Distributed Learning and Simulation Section, Allied Command Transformation. The ILIAS platform is an open source web-based learning management system (LMS) - compliant with standards such as SCORM 1.2 and 2004, LOM, AICC, QTI, XML - that supports learning content management and tools for collaboration, communication, evaluation and assessment.. It also complies with information exchange standards (LDAP, SOAP, Shibboleth, CAS, RADIUS) and the NATO security standards and was the first open source LMS that was awarded the NATO security certificate. The main aim of the work is to highlight the advantages and the restrictions of implementing a SCORM compliant game into an LMS, in order to provide practice-based guidance to game developers.
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Stensrud, Rune, Sigmund Valaker, and Olav Rune Nummedal. "Exploring Human autonomy teaming methods in challenging environments: the case of uncrewed system (UxS) solutions – challenges and opportunities (with AI)." In AHFE 2023 Hawaii Edition. AHFE International, 2023. http://dx.doi.org/10.54941/ahfe1004307.
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Current uncrewed system (UxS) solutions tend to operate with tightly coupled Command and Control systems, making it difficult to contribute to operating as an integrated force. The case presented in this article is used to reason at the conceptual level about the different requirements and approaches for a future Norwegian UxS Integrated C2 system in order to inform the national development of an UxS Integrated C2 Reference Architecture. This is one in a series of papers that will develop a mission engineering approach and represents functional analysis needed for future acquisition of Norwegian UxS. Based on this work and the development of the situated Cognitive Engineering (sCE)-method eliciting knowledge, and knowledge acquisition information, we make key findings for outlining a strategic guide for an initial Norwegian UxS reference system and set-up (manning, organization and technical know-how).UxS solutions must be available to support ISR services for a variety of tasks and units on all military branches and levels. An UxS reference system must be adapted to the operational area and be available to operate within a harsh environment at the Northern Flank of NATO supporting those who need the information. Modern UxS solutions are based on human control and management, which entails human autonomy teaming which can be labour-intensive, with the potential for cognitive overload as well as bottlenecks in information processing. In the article, we presents a framework that support future acquisition of Norwegian UxS that suggests that autonomy must be distributed to reduce vulnerability and be scalable to handle emergency adapted the Northern Flank of NATO environment e.g. an autonomous system that interacts with its surroundings demonstrating a cooperative design approach with new opportunities (e.g. with and without AI support). We claim that a common future acquisition framework of Norwegian UxS applications (with AI) can reduce the burden on the operator based on results from our Functional Analysis (sCE-method) and empirical studies.
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Stensrud, Rune, Sigmund Valaker, and Torgar Haugen. "Unified Vision-series of military exercise - the methodological struggles in conducting evaluation of Human Factors and Systems Interaction." In 14th International Conference on Applied Human Factors and Ergonomics (AHFE 2023). AHFE International, 2023. http://dx.doi.org/10.54941/ahfe1003605.
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The complexity and practical constraints of sociotechnical systems demand that researchers develop better understanding and methods for testing and providing input on critical Human Factor (HF) and Systems Interaction problems. This article takes a concrete approach to this problem describing the NATO HFM-276 Task Group methodological struggles in conducting evaluation of a military exercise. To analyze the duality; theory and practice, in the area an overall Socio-Technical Multiteam (STM) model was used to identify critical Human Factors (HF) and Systems Interaction in order to survey the gap between simulation and best practice. The Systems Interaction and the methodological struggles in conducting the evaluation of HF and Systems Interaction One dilemma that occurs in these events is the one between being a training arena for military units and operational versus being an arena for operational testing of systems and new capabilities, may lead to some challenges for HF methods. This speaks to the aspect of multiplicity and uncertainty. The behavior of the distributed cooperative systems and operators during the preparation phase and execution are made up of multiple, highly interconnected individuals who influence one another formally and informally. A particular aspect of the UV exercises is the ongoing modifications of systems (e.g., Command and control systems and information systems) and their use during the trial itself. Operators and Supervisors are to analyze data seeking to identify targets across Intelligence, Surveillance, and Reconnaissance (ISR) operations. Evaluating these operations included Human Factors and Systems Interaction (pre- and post-exercise) surveys, observational, archival, and document study. We discuss the utility of these methods using recent work in the HF and ergonomics literature on how to match HF methods to core aspects of the complexity of sociotechnical systems. We also discuss how the methods used could capture complexity, and how to improve HF evaluations of training and test practices in the military and other field settings taking into account some aspects of the complexity of ISR operations. The example of mapping organizational structure using a problem space, as well as experimental designs could be avenues for accommodating complexity in future HF evaluations of military exercises.