Control Design of a Swarm of Intelligent Robots: A Closed-Form H₂ Nonlinear Control Approach

Round 1

Reviewer 1 Report

The application of Control Design of a Swarm of Intelligent Robots: A Closed-form H2 Nonlinear Control Approach is such a very interesting and useful approach. You have already provided solid evidences of your research.   However, I have found some shortages of detail information as follows.   1. The authors should provide "H2 closed-form solution" which is your key of research in Introduction part before going deep-dive.   2. The equation 2: authors should provide the point of plane of the wheel is zero, which is 'q' in equation.    Please re-check on the polarity of the equation 2.   3. Please provide some information/discussion on the shock-wave made at after 40 seconds of each simulation for both Circular and S-type trajectory tracking progresses.     Correctness =================================================   Mathematical Model -> Formular 3-> Angular velocity symbolic representation is widely known "Omega", instead of "w".   Simulation Results -> Angular velocity symbolic representation is widely known "Omega", instead of "w".       Please also see a list of fairly minor comments which I hope will help you to improve your work.   ------------------------------------------------------------   II. Mathematical Model and Tracking Error Dynamics    - Use legend in graph of figure2 and figure11 for easy to understand the meaning  of each line in graph.    - What are R power 3*3 and what is R power 3*2?    - What are I and 0 of them in equation 6?   III. Problem Formulation and H2 Controller Design    - Page6, Line6: full stop error.    - No space before comma ","  and have one space after comma   IV. Simulation Results and the Practical Implementation    - Page9,Line10: what did you mean "The simulation results of figures 2 to 10 are controlled of the swarm of WMRs driven "?                    did you mean "The simulation results of figures 2 to 10 are controlled by the swarm of WMRs driven"?    - Page9,Line18: Change the verb "are" to "is"    - Use legend in graph of figure11 for easy to understand the meaning  of each line in graph.    - What did you mean " trajectory tacking torques"? do you mean " trajectory tracking torques"?    

Author Response

Please see the attachment.Thanks

Author Response File: Author Response.pdf

Reviewer 2 Report

Need to compare with other methods to clarify the optimal of the algorithms. Clarify the connection between the robots. Some results are not clear

Author Response

Please see the attachment.Thanks

Author Response File: Author Response.pdf

Reviewer 3 Report

The paper, according to the information I received, has been submitted to the special issue "https://www.mdpi.com/journal/applsci/special_issues/marine_structures"

However, it has nothing to deal with such a topic. Therefore I suggest to reject it for the mentioned special issue. It could be evaluated for other issues, such as general issues of the Journal

Author Response

Please see the attachment.Thanks

Author Response File: Author Response.pdf