Distributed finite-time trajectory tracking control for multiple nonholonomic mobile robots with uncertainties and external disturbances

Ou, Meiying; Sun, Haibin; Gu, Shengwei; Zhang, Yangyi

doi:10.1080/00207721.2017.1381891

Cited by 14 publications

(10 citation statements)

References 37 publications

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“…A spanning tree is a directed path from at least one agent i to all agents j, i = j. The graph G is structurally balanced if V is divided into two subsets V (1) , V (2) , such thatV (1)…”

Section: Preliminaries a Basic Notationsmentioning

confidence: 99%

“…I N recent years, coordination control of wheeled mobile robots has received considerable attention because of its challenging features and applications, such as unmanned vehicle systems, movement of large objects, scheduling of automated highway systems and rescue mission (see [1]- [6] and references therein). Generally, the coordination control of NMMRSs in engineering applications is reformulated as a consensus tracking or synchronization problem (see [7] and [8]).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Symmetric Consensus Tracking in Nonholonomic Mobile Multirobot Systems

Liu

Zhang

et al. 2021

IEEE Access

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This paper investigates the symmetric consensus tracking problem of nonholonomic mobile multirobot systems (NMMRSs). The proposed control scheme is developed in cooperative-competitive network. A novel auxiliary reference vector which describes the local communication interaction among NMMRSs is introduced into the protocol design. Combining a kinematic and torque controller, symmetric consensus tracking can be achieved asymptotically in the network topology with parameter uncertainties. In the stability convergence analysis of the networked closed-loop system, coordinate transformation technique plays an important role. Finally, the effectiveness of the desired symmetric consensus tracking problem is verified by numerical simulations. INDEX TERMS Nonholonomic mobile multirobot systems (NMMRSs), Structural balance, Symmetric consensus tracking, The torque controller.

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“…A spanning tree is a directed path from at least one agent i to all agents j, i = j. The graph G is structurally balanced if V is divided into two subsets V (1) , V (2) , such thatV (1)…”

Section: Preliminaries a Basic Notationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Symmetric Consensus Tracking in Nonholonomic Mobile Multirobot Systems

Liu

Zhang

et al. 2021

IEEE Access

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“…For example, the following directed graph in Figure 1 (Ou et al, 2017) contains one leader and three followers, where 1, 2, 3 represent three followers and 4 represents a virtual leader. It is easy to see that only follower 1 can obtain the leader's information, and three followers can exchange information with each other.…”

Section: Problem Formulationmentioning

confidence: 99%

“…In practice, finite-time convergence is more preferable due to its tracking accuracy and better disturbance rejection (Bhat and Bernstein, 2000;Jia et al, 2019;Huang et al, 2015Huang et al, , 2016Du et al, 2017Du et al, , 2019Wang et al, 2016). At present, many meaningful finite-time control results for multiple nonholonomic mobile robots systems have been given in Ou et al (2012Ou et al ( , 2014Ou et al ( , 2017 and Khoo et al (2009) and the references therein. In Ou et al (2012), distributed continuous finite-time tracking controllers using homogeneous method and finite time techniques were derived for a group of nonholonomic mobile robots systems.…”

Section: Introductionmentioning

confidence: 99%

Fixed-time trajectory tracking control for multiple nonholonomic mobile robots

Sun

Zhang

et al. 2020

Transactions of the Institute of Measurement and Control

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This paper investigates the fixed-time trajectory tracking control for a group of nonholonomic mobile robots, where the desired trajectory is generated by a virtual leader, the leader’s information is available to only a subset of the followers, and the followers are assumed to have only local interaction. According to fixed-time control theory and adding a power integrator technique, distributed fixed-time tracking controllers are developed for each robot such that all states of each robot can reach the desired value in a fixed time. Moreover, the settling time is independent of the system initial conditions and only determined by the controller parameters. Simulation results illustrate and verify the effectiveness of the proposed schemes.

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“…In [53], the control input of each follower is assumed to be subject to unknown nonlinear dead zone. [86,87]. Finite-time consensusbased formation control of multiple nonholonomic mobile robots is considered in [88], where a distributed finite-time observer is proposed for each follower to estimate the states of leaders in a finite time.…”

Section: Graph Theorymentioning

confidence: 99%

Adaptive cooperative control of multi-agent systems

Zou¹

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This thesis contains material from 4 papers submitted to and published in the following peer-reviewed journals in which I am listed as an author. Chapter 3 is submitted to IET Control Theory & Applications as Y. Zou, C. Wen, and M. Guan. "Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with directed communication graph and sensor faults," The contributions of the co-authors are as follows: • I prepared the drafts of the manuscript, designed the control algorithm and performed the simulations. • Prof. Wen provided comments on the algorithm design and revised the manuscript drafts. • Mr. Guan assisted in simulations and revision of the manuscript. Chapter 4 is submitted to IEEE Transactions on Systems, Man and Cybernetics: Systems as Y. Zou, C. Wen, and C. Deng. "Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with only position information of leader," The contributions of the co-authors are as follows: • I prepared the drafts of the manuscript, designed the control algorithm and performed the simulations.

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Distributed finite-time trajectory tracking control for multiple nonholonomic mobile robots with uncertainties and external disturbances

Cited by 14 publications

References 37 publications

Symmetric Consensus Tracking in Nonholonomic Mobile Multirobot Systems

Symmetric Consensus Tracking in Nonholonomic Mobile Multirobot Systems

Fixed-time trajectory tracking control for multiple nonholonomic mobile robots

Adaptive cooperative control of multi-agent systems

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