Multi-agent Optimal Control of Ball Balancing on a Mobile
Keywords:
Multi-agent system, Distributed control, Balance mechanism, Optimal controlAbstract
Multi-agent systems have origin in computer engineering however, they have found applications in different field. One of the newly emerged problems in multi-agent systems is multi-agent control. In multi-agent control it is desired that the control is done in distributed manner. That is the controller of each agent should be implemented based on local feedback. In this a mechanism is introuded as a test bed for multi-agent control systems. The introduced mechanism is balancing of a ball on link located on a planar mobile robot. Dynamic equations of the mechanism is derived and the control task is distributed among two agents. For each agent a two loop controller designed wherein external loop is a LQR controller and inner loop is a simple proportional controller. Regulation and fault tolerance performance of controller scheme is evaluated by simulations.Downloads
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Published
03-12-2015
Issue
Section
Issue on Mechanical, Materials and Manufacturing Engineering
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This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
How to Cite
Akbarimajd, A., & Mohamamd Hossini, A. (2015). Multi-agent Optimal Control of Ball Balancing on a Mobile. International Journal of Integrated Engineering, 7(2). https://publisher.uthm.edu.my/ojs/index.php/ijie/article/view/1146