This article addresses the problem of event-based consensus in a leader–follower multiagent system framework prone to external bounded disturbance. The proposed approach has three parts. The first part defines a novel measurement error based on sliding surface for super-twisting sliding-mode controller. The Lyapunov stability analysis is then used to derive a dynamic event-triggering condition for control updates. The event-based control updates guarantee stability along with the desired consensus amongst agents (robots). The second part derives a bound on reaching time to the sliding surface, thereby guaranteeing finite-time consensus control for each agent. The third part guarantees the admissibility of event-based control updates for each agent. The robustness of the proposed approach is validated through simulation and real-time experiments using three Pioneer P3-DX mobile robots in a multiagent framework. The real-time experimental results prove the reduction in computational burden of the entire system as control updates for two followers are found to be approximately $\text{28.33\%}$ and $\text{23.33\%}$ , respectively, in the presence of disturbances.

This article presents the concept of a robotic system for aliquoting of biomaterial, consisting of a serial manipulator in combination with a parallel Delta-like robot. The paper describes a mathematical formulation for approximating the geometric constraints of the parallel robot as a set of solutions to a system of nonlinear inequalities. The analysis of the workspace is carried out, taking into account singularity zones, using a method based on the analysis of the Jacobian matrix of the mechanism and the interference of links. An optimal design procedure is proposed for the dimensional synthesis based on a criterion for maximizing the volume of the workspace, taking into account the ambiguity of the solution of the inverse kinematics. Simulation results are reported and discussed to propose a suitable design solution.

This article presents a novel stochastic event-based super-twisting controller design for addressing the formation control problem in the networked multiagent system in the presence of an external disturbance. The stochasticity in the system is introduced by randomness of network uncertainties, i.e., losses and delays of data packets. The proposed design has three parts. The first part derives an event-triggering condition for control input updates of each agent in the system. The second part guarantees desired formation in finite time by deriving an upper bound on reaching time to the designed sliding surface of each agent. The third part ensures admissibility of event-based control updates of the agents such that they achieve stable desired formation. The proposed stochastic design has been validated on Pioneer P3-DX mobile robots. The results show the three-fold effectiveness of stochastic design. They are: 1) retaining the advantages of event-triggering strategy; 2) retaining the advantages of super-twisting sliding-mode controller; and 3) robust toward network uncertainties.

One of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the ability to rotate the robot’s base relative to the horizontal axis. The analysis of its working and technological area is carried out, taking into account singularity zones. The developed algorithms for determining the workspaces are based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities. In this case, restrictions in spaces of different coordinates are presented in the form of n-dimensional boxes. Approaches to solving two problems are proposed to determine the possible intersection of links for the collaborative performance of tasks by a multi-robotic system. The first task is to determine the intersection of the links for the given positions and the relative position of the manipulators. The second is in determining the minimum distance between the technological areas of manipulators, which consist of the workspace and all possible positions of the intermediate links.

The problem of approximating the set of all solutions to a system of nonlinear inequalities is studied. A method based on the concept of nonuniform coverings is proposed. It allows one to obtain an interior and exterior approximation of this set with a prescribed accuracy. The efficiency of the method is demonstrated by determining the workspace of a parallel robot.