Abstract
In the article, the consensus problem is considered for networked multi-robot systems, in which the dynamical equation of all robots is non-holonomic and nonlinear systems. In the multi-robot systems, each robot updates its current states and receives the states from the neighboring robots. Under the assumption that if the network graph is bidirectional, a local information-based state feedback robust controller is designed to make sure the convergence of the individual robots’ states to a common value. Finally, the effectiveness of the presented method is illustrated by the simulation results of a group of four mobile robots.
Highlights
In the past few years, distributed control of multi-agent systems has attracted much attention from various research field, such as swarming, cooperative control of spacecraft, autonomous underwater vehicles, mobile robots, flocking of birds,[1,2,3,4,5,6,7] and so on.In order to ensure the effectiveness of the distributed control strategy, the consensus problem which as the basic problem of distributed cooperative control is firstly considered and has been employed in various engineering application
The control objective is to design a state feedback controller U i 1⁄4 1⁄2 ui[1] ui2 T for each robot based on local information such that lim t
The non-holonomic dynamical equations of mobile robots were transformed into canonical form
Summary
In the past few years, distributed control of multi-agent systems has attracted much attention from various research field, such as swarming, cooperative control of spacecraft, autonomous underwater vehicles, mobile robots, flocking of birds,[1,2,3,4,5,6,7] and so on. This article focused on the consensus problem in multiple non-holonomic mobile robot systems by local state feedback robust controllers. For multiple wheeled mobile robot systems with non-holonomic kinematic equations, considering the existence of input disturbances, the robust consistency control algorithm using local state feedback for multiple individual wheeled mobile robot systems is studied. The kinematic model of wheeled mobile robot is transformed into a third-order chain system by coordinate transformation, and the third-order system is regarded as a cascade system composed of the first-order subsystem and the second-order subsystem For these two subsystems, the terminal sliding mode method is used to deal with the input disturbance, and the robust consistency control algorithm is designed, respectively. The third section formally states the consensus control problems of multiple non-holonomic mobile robot systems. Refer to the study by Turbın[34] for more details about pseudo-inverse matrices
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