Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory

Abstract

In this paper, the distributed formation control problem for multiple nonholonomic mobile robots using consensus-based approach is considered. A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Distributed control laws are developed for achieving the formation control objectives: a group of nonholonomic mobile robots at least exponentially converge to a desired geometric pattern with its centroid moving along the specified reference trajectory. Rigorous proofs are provided by using graph, matrix , and Lyapunov theories. Simulations are also given to verify the effectiveness of the theoretical results.

Distributed consensus-based formation control for nonholonomic wheeled mobile robots using adaptive neural network

“…Compared with existing works in the literature, the current paper has the following advantages: Firstly, the relative distance and angle for each robot with its leader are not required to be known, which is different from the traditional leader-follower approach [1,8,16,17]. Secondly, in contrast to that only kinematic control models considered in [6,7,[18][19][20], the controllers designed in this paper are based on both the kinematic and dynamic models of robots.…”

“…Dong [7] studied the tracking control problem for nonholonomic mobile robots with limited information of a desired trajectory. Peng et al [8] proposed a kinematic controller for the distributed consensus-based formation control.…”

Group consensus control for heterogeneous multi-agent systems with fixed and switching topologies

“…This is partly due to its potential applications, including biological systems, robot formation, sensor networks, unmanned aerial vehicle formation, underwater driving device and group decision making problems, to name a few (Olfati-Saber and Murray 2004; Ren and Beard 2005;Peng et al 2013;Wang et al 2015c;Peng et al 2015). The consensus generally means that all agents reach an agreement asymptotically or in a finite time.…”

Consensus with a reference state for fractional-order multi-agent systems

“…Its broad applications can be found in rendezvous (Smith, Broucke, & Francis, 2007), sensor networks (Olfati-Saber, 2007), satellite formation (Wu, Wang, & Poh, 2010), flocking (Jing, Zheng, & Wang, 2014) and so on. In recent years, the distributed coordination of MASs has been extensively studied in consensus (Diao, Duan, & Wen, 2014;, formation control (Peng, Wen, Rahmani, & Yu, 2015), task assignment (Shao, Wang, & Yu, 2007) and so on.…”