Consensus Algorithm
Introduction
Consensus is an important problem in cooperative control, where several agents have to be synchronized to a common value. In the case of multi-robots systems, it can be interesting for the robots to achieve a consensus on positions, like a rendez-vous point , to reach an objective at the same instant. After studying the concepts of Systems of Systems in the course of "Automatic Robotic Systems", we’ve choosen to implement the ” Rendez-Vous with target case”, where we assume the case of five robots with which we can directly control their speeds.
The purpose of our project is to propose a consensus-based control law that lets the agents meet in the specified location (0,0), study the behavior of our system and simplify our graphical model.
Methodology
- We plot the graph of the system.
- We propose a consensus-based control law that let the agents meet in the specified location.
- We implement the control system in MATLAB Simulink and analyze the results function of the controllers gains.
- We proposed another simplified graph with less connections, adapted the proposed controller and analyzed the simulation results.
Overview of the Repository
In this repo, you'll find :
Code
: Folder that contains all code for our algorithms and simulation.Documentation
: Folder that contains our final report and presentation.
You can find more details about our approach, equations, and results in Documentation/report.pdf
.
Getting Started
- Clone our repo:
git clone https://github.com/HusseinLezzaik/Consensus-Algorithm.git
- Install MATLAB.
- Run
Code/method.md
to replicate our experiments.