A leader–follower system is developed to cooperatively swing a payload up to a desired angle without interagent communication. The main advantages of this system are that no force sensor is required to measure the swing angle, and the states of the leader and the follower are not communicated to achieve synchronous swinging. The leader actively swings up the payload using an energy-based controller. The follower controller can compensate the angle difference and mimic the leader swing simultaneously by estimating the difference in swing angle and the energy rate, which avoid any need for interagent communication of their states for achieving the appropriate interaction. Force sensors are also not needed since unscented Kalman filters are developed to estimate the external forces applied to the agents. The results from a stability analysis prove that the system is stable. Simulation was conducted to verify the performance of the developed controllers and estimator.

开发了一个领导者 - 跟随者系统，以在没有代理间通信的情况下将有效载荷协同摆动到所需的角度。该系统的主要优点是不需要测力传感器来测量摆动角度，并且不传递领航者和跟随者的状态以实现同步摆动。领导者使用基于能量的控制器主动向上摆动有效载荷。跟随控制器可以通过估计摆动角度和能量率的差异来补偿角度差异并同时模仿领导摆动，这避免了为了实现适当的交互而进行状态间通信的任何需要。也不需要力传感器，因为开发了无味卡尔曼滤波器来估计施加到代理上的外力。稳定性分析的结果证明系统是稳定的。进行仿真以验证开发的控制器和估计器的性能。