Output consensus for multiple non-holonomic systems under directed communication topology

Xu, Yong; Tian, Yu‐Ping; Chen, YangQuan

doi:10.1080/00207721.2013.784821

Cited by 18 publications

(24 citation statements)

References 24 publications

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“…In this section, we summarise the recent progress in the study of distributed nonholonomic chained system coordination mainly based on the aforementioned sections, especially by the contributions in (Cao et al (in press), Dong (2013), and Xu et al (2015) and the references herein).…”

Section: Distributed Control Of Nonholonomic Chained Multi-agent Systemsmentioning

confidence: 99%

“…Recently, finite-time tracking control problem of multiple nonholonomic systems is another hot topic, this challenging problem with application to wheeled mobile robots has been considered in Ou, Du, and Li (2012) and Ou, Du, and Li (2014) based on the time-varying methods in Tian and Li (2002). Distributed high-order nonholonomic chained system coordination are newly considered in Cao, Jiang, and Chen (in press), Dong (2013) and Xu, Tian, and Chen (2015).…”

Section: Introductionmentioning

confidence: 99%

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An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

Huang

Chen

Fang

et al. 2015

Journal of Control and Decision

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This paper reviews some main results and progress concerning with nonholonomic system control, especially focusing on the networked chained system coordination. The controllability of nonholonomic system, the control method of nonholonomic system, the chained form transformation, the basic graph theory for multi-agent systems are recalled, respectively. Some important definitions, lemmas, theorems and dynamics are elaborated. Both the consensus and formation control problems for networked nonholonomic chained systems are summarised. Finally, some open questions are proposed.

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Section: Distributed Control Of Nonholonomic Chained Multi-agent Systemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

Huang

Chen

Fang

et al. 2015

Journal of Control and Decision

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“…c Remark 2. Different from the existing time-varying or discontinuous controllers in the literatures, [19][20][21][22][23][24][25][26][27][28][29] which addressed the leaderless consensus/formation control problem of nonholonomic systems, the distributed controller (equation (11) or (13)) is smooth, timeinvariant, and static. The achievement of this relies heavily on the Lyapunov function V 1 constructed in equation (4).…”

Section: Let Us Definementioning

confidence: 99%

“…Modifying the first control scheme, the second saturated smooth time-invariant static control law is obtained, which not only achieves the global asymptotic consensus control but also satisfies the input saturation condition. Comparing to the related works, [19][20][21][22][23][24][25][26][27][28][29] the proposed control strategies are smooth and time-invariant. Comparing to the work of Zhai et al, 30 the second control law can realize the consensus goal in the presence of input saturation.…”

Section: Introductionmentioning

confidence: 99%

“…16 For any individual nonholonomic system, there exists no continuous time-invariant static controller that asymptotically stabilizes the state of system to a fixed point, 17 and hence, only the time-varying or discontinuous controller 18 can achieve asymptotic stabilization. For multiple leaderless consensus case, most of the published references still focus on the design of time-varying, discontinuous, or dynamic controller, see the literatures [19][20][21][22][23][24][25][26][27][28][29] which achieve the leaderless consensus/formation control of multiple nonholonomic systems. In addition, it was reported in the study by Zhai et al 30 that the smooth time-invariant static distributed control law can realize the asymptotic leaderless consensus of the nonholonomic chained systems over undirected connected graph.…”

Section: Introductionmentioning

confidence: 99%

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Smooth time-invariant control for leaderless consensus of networked nonholonomic systems

Xie

2017

International Journal of Advanced Robotic Systems

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This article studies the leaderless consensus control problem of multiple nonholonomic chained systems. Two smooth time-invariant static distributed controllers are derived based on Lyapunov method, graph theory, and LaSalle invariance principle. Both of the proposed controllers guarantee that the states of the multiple nonholonomic systems globally asymptotically converge to a common vector, provided that the interconnection topology is undirected and connected. In particular, the second control scheme can reduce the size of the control inputs via saturated control and is more applicable in real engineering. Several numerical simulations are implemented for kinematic models of four nonholonomic unicycle mobile robots, demonstrating the effectiveness of the proposed control schemes.

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Global formation control of nonholonomic unicycle vehicles with guaranteed rate of convergence

Zhao

Huang

Liu

et al. 2021

Asian Journal of Control

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This paper studies the full‐state formation control problem of multiple nonholonomic unicycle vehicles. Firstly, the formation error model is transformed into standard nonholonomic chained form, including orientation and position error subsystems. For orientation subsystem, an angular velocity control law is designed to be a cooperative term plus an exponential decay function of time, ensuring orientations reach an agreement on a common value. For position error subsystem, a time‐varying output‐like variable is carefully constructed to ensure a stable zero dynamics, that is, the consensus of these output variables guarantees position formation, overcoming the intrinsic underactuated control difficulty. Then, a linear velocity control law is derived to realize consensus of outputs. It is proved that the proposed distributed time‐varying controller is capable of steering the vehicles to globally exponentially make into desired geometric position shape with the same orientations and vanishing velocities, provided that the communication topology is directed and having a spanning tree. The calculated convergence rates are shown dependent on controller coefficients; thus, the controller is modified to additionally reach a prescribed rate of convergence by redesigning conditions of controller parameters. Finally, two numerical simulations are implemented for five unicycle vehicles, demonstrating the effectiveness of the proposed control scheme.

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Output consensus for multiple non-holonomic systems under directed communication topology

Cited by 18 publications

References 24 publications

An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

Smooth time-invariant control for leaderless consensus of networked nonholonomic systems

Global formation control of nonholonomic unicycle vehicles with guaranteed rate of convergence

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