Cooperative adaptive consensus tracking for multiple nonholonomic mobile robots

Zhang

et al. 2021

IEEE Access

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.

Section: Introductionmentioning

confidence: 99%

Symmetric Consensus Tracking in Nonholonomic Mobile Multirobot Systems

Zhang

et al. 2021

IEEE Access

“…As can be seen from most existing studies on the cooperative SMC schemes for networked multi-agent systems, an appropriate design of sliding surface is a key issue for convergence analysis of the corresponding closed-loop systems, such as synchronization and consensus, flocking and swarming, and formation control. 3,15,31,34 In general, the design of the distributed SMC consensus strategies for MNWMRs is more challenging than that for the holonomic multi-agent systems in that the design of sliding surface must simultaneously consider the property of nonholonomic constraints and the communication interactions among the robots of the networked MNWMRs. Different from most previous SMC tracking schemes for single robots, 17,18 one of the main challenges is that the network topology characterizing the communication interactions among the networked robots is appropriately introduced into the design of sliding vector, which plays an important role in realizing cooperative tracking of multi-robots.…”

Section: Distributed Consensus Tracking Controlmentioning

confidence: 99%

“…27,28 Due to the nonholonomic constraints, the design of cooperative tracking scheme for MNWMRs becomes more challenging than their single-robot counterparts in particular when the communication interactions among the networked robots are taken into account with an increase of group size. [29][30][31] However, the current research on consensus or formation tracking control for MNWMRs is mainly focused on designing kinematic controller, 32,33 and thus the existing analysis under Cartesian coordinate framework cannot be straightforwardly applied to such a collective motion case because of the complexity of multiple rotating deployment. For practical reasons, 27 it is necessary to develop a novel unified distributed algorithm for cooperative distributed consensus tracking of MNWMRs by systematically integrating both kinematic controller and dynamic controller.…”

Section: Introductionmentioning

confidence: 99%

“…By making the best use of the advantages of SMC scheme including fast response, strong robustness, and good transient performance with regard to uncertain system dynamics, 34 we propose a novel unified SMC methodology to solve the trajectory tracking problems of MNWMRs, whose kinematics is described by the polar coordinate representation. The merits and novelty of the developed SMC algorithm in polar coordinates, in comparison with the latest references, 17,18,21,31,35 lies in the following three aspects.…”

Section: Introductionmentioning

confidence: 99%

“…17,18 (3) A systematic integration of two-step SMC procedures of position controller and heading direction controller is reasonably used to enhance the SMC performance including stability, robustness, and effectiveness. 17,24,31 The remainder of this paper is organized as follows. The preliminaries are presented in Section 2.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Practical consensus tracking control of multiple nonholonomic wheeled mobile robots in polar coordinates

Intl J Robust & Nonlinear

Guo

et al. 2020

Self Cite

This paper proposes a sliding-mode control (SMC) method to achieve practical cooperative consensus tracking for a network of multiple nonholonomic wheeled mobile robots (MNWMRs) with input disturbances. A novel SMC surface under the nonholonomic constraints is first formulated to characterize the network communication interactions among the networked robots under the framework of polar coordinates. A unified distributed consensus tracking strategy is then proposed by systematically combining a position controller and a direction controller. Furthermore, a simple yet general criterion is derived to achieve the desired practical consensus of trajectory tracking and posture stabilization for MNWMRs. In particular, for a specific common consensus trajectory, the complete asymptotic tracking in heading direction can be fully guaranteed when the perfect asymptotic position-tracking errors are realized. Accordingly, the developed consensus tracking strategy for MNWMRs demonstrates some advantages of control performance including stability, robustness, and effectiveness over the existing control method proposed for their single-robot counterparts. Some comparative simulation results are given to confirm the effectiveness of the proposed cooperative consensus control method. K E Y W O R D Smulti-nonholonomic mobile robots, polar coordinates, practical consensus tracking, sliding-mode control 1 Int J Robust Nonlinear Control. 2020;30:3831-3847.wileyonlinelibrary.com/journal/rnc

Achieving distributed consensus for networked uncertain Euler–Lagrange systems with average dwell time approach

Asian Journal of Control

et al. 2023

Self Cite

This paper proposes a novel distributed consensus achieving algorithm for switched networked Lagrange systems with uncertain parameters, in order to solve the abruptly occurrence problem of parameters changing and communication topologies switching. We first model the multirobot systems as switched networked Lagrange systems. Then, by introducing the network topology into the sliding mode vector, a unified distributed consensus tracking strategy is then proposed by systematically combining the average dwell time (ADT) approach and adaptive control method. Besides, a sufficient condition regarding the ADT among subsystems is derived to ensure the asymptotical consensus performance of the multirobot systems. A unified analysis methodology is developed to perform the convergence analysis for the closed‐loop system by Lyapunov stable theory. Finally, illustrative examples and simulations are provided to demonstrate and validate the theoretical results.