Planar Orientation Control and Torque Maximization Using a Swarm With Global Inputs
| dc.contributor.author | Shahrokhi, Shiva | |
| dc.contributor.author | Lin, Lillian | |
| dc.contributor.author | Becker, Aaron T. | |
| dc.date.accessioned | 2019-10-01T15:39:27Z | |
| dc.date.available | 2019-10-01T15:39:27Z | |
| dc.date.issued | 7/24/2019 | |
| dc.description.abstract | This paper studies the torque applied by a large number of particles on a long aspect-ratio rod. The particles are all pushed in the same direction by a global signal. We calculate the force and torque generated by three canonical position distributions of a swarm: uniform, triangular, and normal. The model shows that for a pivoted rod the uniform distribution produces the maximum torque for small swarm standard deviations, but the normal distribution maximizes torque for large standard deviations. In the simulation, we use these results to design proportional-derivative controllers to orient rigid objects. We conclude showing the experiments with up to 97 hardware robots to evaluate our theory in practice. | |
| dc.identifier | 10.1109/TASE.2019.2925908 | |
| dc.identifier.citation | Copyright 2019 IEEE Transactions on Automation Science and Engineering. This is a post-print version of a published paper that is available at: https://ieeexplore.ieee.org/abstract/document/8771168/keywords#keywords Recommended citation: Shahrokhi, Shiva, Lillian Lin, and Aaron T. Becker. "Planar Orientation Control and Torque Maximization Using a Swarm With Global Inputs." IEEE Transactions on Automation Science and Engineering (2019). DOI: 10.1109/TASE.2019.2925908 This item has been deopisted in accordance with publisher copyright and licensing terms and with the author's permission. | |
| dc.identifier.uri | https://hdl.handle.net/10657/4896 | |
| dc.language.iso | en_US | |
| dc.publisher | IEEE Transactions on Automation Science and Engineering | |
| dc.subject | Swarm control | |
| dc.subject | Torque control | |
| dc.subject | Underactuated robots | |
| dc.title | Planar Orientation Control and Torque Maximization Using a Swarm With Global Inputs | |
| dc.type | Article |