In this paper, we study the swarm-based coverage control problem for multi-agent systems where th... more In this paper, we study the swarm-based coverage control problem for multi-agent systems where the main objective of a group of mobile agents is to explore a given compact region. We consider a group of coverage agents that move as a swarm in order to explore the given domain. Agents are deployed to uncovered regions via a swarming control scheme where a leader agent selects a target position in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. In addition to the coverage objective, we design control inputs for collision avoidance, obstacle avoidance and proximity maintenance.
52nd IEEE Conference on Decision and Control, 2013
In this paper, we study the dynamic coverage problem for multi-agent systems. Qualitatively, the ... more In this paper, we study the dynamic coverage problem for multi-agent systems. Qualitatively, the coverage goal can be described as gathering sensory information for each point in a given region up to a desired prescribed level. In order to achieve the coverage goal, we propose a novel control scheme, where we introduce a supervisor that assists a group of coverage agents with i) coverage control law and ii) trajectory tracking control law. The coverage control law ensures the coverage task is done until the agents end up in local minima, and when they do, the global trajectory tracking control law ensures that the agents are deployed to uncovered regions. Our control scheme is designed such that the two control laws are decoupled, meaning that only one of them is active at a given time. In addition to the coverage objective, we design control laws in order to guarantee that there are no collisions between the agents and they always operate sufficiently close to the supervisor.
The aim of this study is to achieve the trajectory-tracking control of an autonomous underwater v... more The aim of this study is to achieve the trajectory-tracking control of an autonomous underwater vehicle (AUV) in the presence of random system uncertainties and external current disturbances. A comprehensive model of an AUV is developed based on its kinematic and dynamic models. By means of appropriate transformations, a new system dynamic equation with arguments of positions and orientations is obtained for the controller design. Here, a proposed finite-time robust tracking control (FTRTC) based on a nonlinear sliding surface constructed using the tracking error which leads not only to trajectory-tracking of the AUV system with a finite-time convergence, but also a high level of robust performance. The stability of the overall system is assured via the Lyapunov stability criteria. Computer simulations conducted using the developed controller demonstrates the feasibility and effectiveness of the proposed FTRTC. Moreover, the simulation results showed that the proposed control scheme...
ABSTRACT Dynamic modelling and controller design for a flexible four-bar mechanism is studied. Th... more ABSTRACT Dynamic modelling and controller design for a flexible four-bar mechanism is studied. The fully coupled non-linear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the system response. A linearized dynamic model is developed which facilitates the design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD controller is designed based on a linearized model. These gains are subsequently tuned using the actual model to achieve the desired response. The resultant controller is shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.
In recent years, hydroforming has become the topic of a lot of active research. Researchers have ... more In recent years, hydroforming has become the topic of a lot of active research. Researchers have been looking for better procedures and prediction tools to improve the quality of the product and reduce the prototyping cost. Similar to any other metal forming process, hydroforming leads to non-homogeneous plastic deformations of the workpiece. In this paper, a model is developed to
ABSTRACT This paper aims at attaining one-leader & two-followers (1L-2F) formation contro... more ABSTRACT This paper aims at attaining one-leader & two-followers (1L-2F) formation control of multi-nonholonomic mobile robot (multi-NMR) systems subject to uncertainties and, at the same time, achieves trajectory-tracking of the leader NMR. To begin, the tracking error between the leader and a virtual reference robot is defined. Then, the extension to a leader-follower formation control structure is utilized to define the formation error (i.e., separation and orientation errors) between the leader and the followers. It has been proven that fuzzy sliding-mode tracking control (FSMTC) and backstepping formation control (BFC) can improve performance and stability when the overall closed-loop system is subject to uncertainties. Therefore, FSMTC and BFC are used for trajectory tracking of the leader NMR and formation control for two followers with respect to the leader, respectively. The stability of the closed-loop multi-NMR systems, i.e., trajectory tracking and formation control, is demonstrated through Lyapunov stability criteria. Finally, to validate the theoretical developments, computer simulations are conducted which prove the effectiveness, efficiency and robustness of the proposed scheme.
In this paper, we study the swarm-based coverage control problem for multi-agent systems where th... more In this paper, we study the swarm-based coverage control problem for multi-agent systems where the main objective of a group of mobile agents is to explore a given compact region. We consider a group of coverage agents that move as a swarm in order to explore the given domain. Agents are deployed to uncovered regions via a swarming control scheme where a leader agent selects a target position in an uncovered region while all other agents are commanded to swarm around the leader agent's target position. In addition to the coverage objective, we design control inputs for collision avoidance, obstacle avoidance and proximity maintenance.
52nd IEEE Conference on Decision and Control, 2013
In this paper, we study the dynamic coverage problem for multi-agent systems. Qualitatively, the ... more In this paper, we study the dynamic coverage problem for multi-agent systems. Qualitatively, the coverage goal can be described as gathering sensory information for each point in a given region up to a desired prescribed level. In order to achieve the coverage goal, we propose a novel control scheme, where we introduce a supervisor that assists a group of coverage agents with i) coverage control law and ii) trajectory tracking control law. The coverage control law ensures the coverage task is done until the agents end up in local minima, and when they do, the global trajectory tracking control law ensures that the agents are deployed to uncovered regions. Our control scheme is designed such that the two control laws are decoupled, meaning that only one of them is active at a given time. In addition to the coverage objective, we design control laws in order to guarantee that there are no collisions between the agents and they always operate sufficiently close to the supervisor.
The aim of this study is to achieve the trajectory-tracking control of an autonomous underwater v... more The aim of this study is to achieve the trajectory-tracking control of an autonomous underwater vehicle (AUV) in the presence of random system uncertainties and external current disturbances. A comprehensive model of an AUV is developed based on its kinematic and dynamic models. By means of appropriate transformations, a new system dynamic equation with arguments of positions and orientations is obtained for the controller design. Here, a proposed finite-time robust tracking control (FTRTC) based on a nonlinear sliding surface constructed using the tracking error which leads not only to trajectory-tracking of the AUV system with a finite-time convergence, but also a high level of robust performance. The stability of the overall system is assured via the Lyapunov stability criteria. Computer simulations conducted using the developed controller demonstrates the feasibility and effectiveness of the proposed FTRTC. Moreover, the simulation results showed that the proposed control scheme...
ABSTRACT Dynamic modelling and controller design for a flexible four-bar mechanism is studied. Th... more ABSTRACT Dynamic modelling and controller design for a flexible four-bar mechanism is studied. The fully coupled non-linear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the system response. A linearized dynamic model is developed which facilitates the design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD controller is designed based on a linearized model. These gains are subsequently tuned using the actual model to achieve the desired response. The resultant controller is shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.
In recent years, hydroforming has become the topic of a lot of active research. Researchers have ... more In recent years, hydroforming has become the topic of a lot of active research. Researchers have been looking for better procedures and prediction tools to improve the quality of the product and reduce the prototyping cost. Similar to any other metal forming process, hydroforming leads to non-homogeneous plastic deformations of the workpiece. In this paper, a model is developed to
ABSTRACT This paper aims at attaining one-leader & two-followers (1L-2F) formation contro... more ABSTRACT This paper aims at attaining one-leader & two-followers (1L-2F) formation control of multi-nonholonomic mobile robot (multi-NMR) systems subject to uncertainties and, at the same time, achieves trajectory-tracking of the leader NMR. To begin, the tracking error between the leader and a virtual reference robot is defined. Then, the extension to a leader-follower formation control structure is utilized to define the formation error (i.e., separation and orientation errors) between the leader and the followers. It has been proven that fuzzy sliding-mode tracking control (FSMTC) and backstepping formation control (BFC) can improve performance and stability when the overall closed-loop system is subject to uncertainties. Therefore, FSMTC and BFC are used for trajectory tracking of the leader NMR and formation control for two followers with respect to the leader, respectively. The stability of the closed-loop multi-NMR systems, i.e., trajectory tracking and formation control, is demonstrated through Lyapunov stability criteria. Finally, to validate the theoretical developments, computer simulations are conducted which prove the effectiveness, efficiency and robustness of the proposed scheme.
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Papers by Mansour Karkoub