arXiv subjects

Yasushi Amano

Publications and source records attributed to Yasushi Amano.

4 recordsLinked to original sources

arXiv2025

Scratch Team of Single-Rotor Robots and Decentralized Cooperative Transportation with Robot Failure

Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized controller for robots and the shapes of payloads in a cooperative transport task using multiple single-rotor robots. The proposed controller is robust to mass and center of mass (COM) fluctuations and robot failures. Moreover, it possesses asymptotic stability against dynamics errors. Additionally, the controller supports heterogeneous single-rotor robots. Thus, robots with different specifications and deterioration may be effectively utilized for cooperative transportation. This performance is particularly effective for robot reuse. To achieve the aforementioned performance, the controller consists of a parallel structure comprising two controllers: a feedback controller, which renders the system strictly positive real, and a nonlinear controller, which renders the object asymptotic to the target. First, we confirm cooperative transportation using 8 and 10 robots for two shapes through numerical simulation. Subsequently, the cooperative transportation of a rectangle payload (with a weight of approximately 3 kg and maximum length of 1.6 m) is demonstrated using a robot team consisting of three types of robots, even under robot failure and fluctuation in the COM.

cs.RO↗

arXiv2025

Cooperative Transportation using Multiple Single-Rotor Robots and Decentralized Control for Unknown Payloads

Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the payload. In this study, a cooperative transportation system was developed using rigidly attached single-rotor robots, and a decentralized controller was proposed to guarantee asymptotic stability of the error dynamics for unknown strictly positive real systems. A feedback controller was used to transform unstable systems into strictly positive real ones considering the shared attachment positions. First, the cooperative transportation of unknown payloads with different shapes larger than the carrier robots was investigated via numerical simulations. Second, cooperative transportation of an unknown payload (with a weight of approximately 2.7 kg and maximum length of 1.6 m) was demonstrated using eight robots, even under robot failure. Finally, the proposed system was shown to be capable of carrying an unknown payload, even if the attachment positions were not shared, that is, even if asymptotic stability was not strictly guaranteed.

cs.RO↗

arXiv2024

Decentralized Control for Heterogeneous Battery Energy Storage System

Battery energy storage systems (BESSs) are essential for stable power supply in renewable energy systems that can operate in all weather. Future BESSs will be massive and pluggable with several heterogeneous batteries. In this paper, a novel decentralized control method for a heterogeneous BESS is proposed, in which each battery autonomously operates based on its characteristics. First, a control method that uses only one broadcast signal for each type of battery is proposed. Second, the asymptotic stability of the tracking error is proved. Third, numerical simulations confirm that the proposed control method has robust tracking performance of the total electric power to the demanded power when some batteries fail and are detached from the system. Last, in order to suppress degradation of battery, equalization of the state of charge is achieved for each type of battery without communication among the batteries.

eess.SY↗

arXiv2021

Tracking Control foe Multi-Agent Systems Using Broadcast Signals Based on Positive Realness

Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a central controller. Therefore, it is effective for systems with numerous agents or no-communication between agents. However, it is difficult to manage the stochastic action process of agents considering engineering applications. This paper proposes a decentralized control such that agents autonomously select the deterministic actions. Firstly, a non-linear controller with a binary output of each agent including 0 is introduced in order to express stop actions autonomously when the target is achieved. The asymptotic stability to the target is proved. Secondly, the controller can adjust the tendency of actions in order to make it easier to manage the actions. Thirdly, the controller is extended to that with a continuous output in order to reduce the tracking error to the target and the output vibration. Finally, the effectiveness of the proposed control is verified by numerical experiments.

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