Abstract
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.
Highlights
In 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
The coordination control of nonholonomic mobile multirobot systems (NMMRSs) in engineering applications is reformulated as a consensus tracking or synchronization problem
This paper addressed the symmetric consensus problem of NMMRSs and proposed a new theoretical framework that can be used in a broad range of engineering applications
Summary
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). The coordination control of NMMRSs in engineering applications is reformulated as a consensus tracking or synchronization problem (see [7] and [8]). A large body of work reported in the literature has been devoted to the investigation of bipartite consensus, which evolves a symmetric behavior in different networks, for example, social networks [13] as one of the most important scenarios This emergent behavior can provide a good description of the control objectives with symmetrical characteristics. Motivated by the aforementioned works, this paper mainly discusses symmetric consensus under structurally balanced, signed digraph topology and tackles the symmetric consensus tracking problem of NMMRSs. A novel auxiliary reference vector which describes the local communication interaction among NMMRSs is introduced into the protocol design.
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