Consensus Tracking Control for Switched Multiple Non-holonomic Mobile Robots

Abstract

This brief focuses on the cooperative consensus tracking control for a network of switched multiple-nonholonomic mobile robots (MNMRs), where MNMRs are formulated as the hybrid dynamical systems with the switched behaviors occurring in either the system model parameters or communication network topology. A cooperative switched consensus tracking strategy is developed for MNMRs based on backstepping technique and sliding mode technique. Specially, a switched dynamics torque controller is designed to track a given consensus trajectory by integrating kinematic models, and its asymptotic stability is then fully guaranteed by using Lyapunov-like analysis with average dwell time method. Finally, the effectiveness of the proposed consensus tracking methodology is illustrated by numerical simulation example.