Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks
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Publication:510109
DOI10.1016/J.AUTOMATICA.2016.11.027zbMATH Open1355.93109arXiv1609.02174OpenAlexW2519634894MaRDI QIDQ510109FDOQ510109
Authors: Zhixin Liu, Jinhuan Wang, Lin Wang, Daoyi Dong, Xiaoming Hu 
Publication date: 16 February 2017
Published in: Automatica (Search for Journal in Brave)
Abstract: This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be caused by abrupt changes of positions when updating information from neighbors. Distributed sampled-data control laws are designed based on nearest neighbour rules, which in conjunction with continuous-time dynamics results in hybrid closed-loop systems. For uniformly and independently initial states, a sufficient condition is provided to guarantee synchronization for the system without leaders. In order to steer all robots to move with the desired orientation and speed, we then introduce a number of leaders into the system, and quantitatively establish the proportion of leaders needed to track either constant or time-varying signals. All these conditions depend only on the neighborhood radius, the maximum initial moving speed and the dwell time, without assuming a prior properties of the neighbor graphs as are used in most of the existing literature.
Full work available at URL: https://arxiv.org/abs/1609.02174
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Artificial intelligence for robotics (68T40) Decentralized systems (93A14) Sampled-data control/observation systems (93C57) Automated systems (robots, etc.) in control theory (93C85)
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Cited In (20)
- Adaptive practical stabilization of a class of uncertain nonlinear systems via sampled-data control
- Distributed controller-estimator for target tracking of networked robotic systems under sampled interaction
- Fixed-time consensus for multi-agent systems with objective optimization on directed detail-balanced networks
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- Distributed estimation and control of multiple nonholonomic mobile agents with external disturbances
- Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks
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