Multidisciplinary Journal of Science and Technology

DEVELOPMENT OF A MATHEMATICAL MODEL FOR SIMULATING A DECENTRALIZED CONTROL SYSTEM FOR COLLABORATIVE ROBOT NETWORKS

Vladyslav Yevsieiev

1Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Jafar Ababneh

2Cyber Security department, Faculty of Information Technology, Zarqa University, Zarqa, Jordan

Svitlana Maksymova

1Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Amer Abu-Jassar

3Department of Computer Science, College of Information Technology, Amman Arab University, Amman, Jordan

Keywords: Decentralized Control, Collaborative Robots, Robot Networks, Trust Level, Risk, Mathematical Modeling, Fault Tolerance, Adaptability, Python, Simulation, Agent Interaction, Autonomous Systems.

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Abstract

The article presents the development of a mathematical model for modeling a decentralized control system for a network of collaborative robots. The main attention is paid to the analysis of the behavior of agents in a distributed environment, taking into account the level of trust, risk, adaptability and probability of failures. The proposed model is implemented in the Python programming language and allows for simulations with the ability to visualize changes in the main parameters over time. The modeling demonstrated that a high level of risk and a decrease in trust critically affect the efficiency of interaction in the network, especially with an increase in the frequency of failures. The experiments confirmed the dependence of the stability of the system on the initial conditions and values of key parameters, which allows optimizing the architecture of such systems to increase reliability. The results obtained are important for further improvement of decentralized control algorithms in the field of collaborative robotics.

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