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An optimized cooperative control algorithm of multi-agent array based on the skeletal mechanism of chrysopelea

Compared to the limitations of the traditional two degrees of freedom deployable mechanism, a novel deployable mechanism with multiple degrees of freedom is proposed, which is inspired by the skeletal mechanism of Chrysopelea. The deployable structure consists of a combination of serial and parallel connections actuated by servo motors, which can be formed to a multi-agent array. In order to realize the cooperative control of the multi-agent array, an optimal control algorithm with an uncertain parameter that stands for the internal and external interferences is introduced firstly. Based on the optimal control, an improved particle swarm optimization algorithm is used to tune the parameters of the optimal control algorithm. The simulation results show that the design of the improved PSO cooperative control algorithm can realize the fast, accurate and smooth transformation of the multiple degrees of freedom of the multi-agent array.