Leader-follower consensus control of a class of nonholonomic systems (original) (raw)
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IEEE Access
This paper focuses on an integral sliding mode technique based consensus control protocol design for networked high order uncertain nonlinear systems. The nonlinear agents (nodes), which comprises of a leader and followers are networked via a fixed topology with a directed graph. A consensus among the leader and followers is achieved by first defining consensus error dynamics and then an integral manifold based distributed control protocols are designed. These distributed protocols steer the respective consensus error dynamics to equilibrium even in the presence of uncertainties. The robustness is achieved from the very start of the process by enforcing sliding mode at the initial time instant. The sliding mode enforcement and the closed loop stability analysis is presented in the form of a theorem. The theoretical results are verified via the simulation results of a numerical example. INDEX TERMS Networked control systems, nonlinear systems, robustness, sliding mode control, uncertain systems.
Distributed Consensus of Multiple Nonholonomic Mobile Robots
Consensus problems of multiple nonholonomic mobile robots are considered in this paper. These problems are simplified into consensus problems of two subsystems based on structure of nonholonomic mobile robots. Linear distributed controllers are constructed respectively for these two subsystems thanks to the theory of nonautonomous cascaded systems. Consensus of multiple nonholonomic mobile robots has been realized using the methodology proposed in this paper no matter whether the group reference signal is persistent excitation or not. Different from previous research on cooperative control of nonholonomic mobile robots where the consensus problem under persistent exciting reference has received a lot of attention, this paper reports the first consensus result for multiple nonholonomic mobile robots whose group reference converges to zero. Simulation results using Matlab illustrate the effectiveness of the proposed controllers in this paper. Citation: Kecai Cao, Bin Jiang, Dong Yue. Distributed consensus of multiple nonholonomic mobile robots. IEEE/CAA Journal of Automatica Sinica, 2014, 1(2): 162-170
Integral terminal sliding mode cooperative control of multi-robot networks
2009
This paper studies the integral terminal sliding mode cooperative control of multi-robot networks. Here, we first propose an integral terminal sliding mode surface for a class of first order systems. Then, we prove that finite time consensus tracking of multi-robot networks can be achieved on this integral terminal sliding mode surface. Simulation results are presented to validate the analysis.
Studies in Informatics and Control, 2019
This paper proposes a consensus tracking control for a class of second-order multi-agent nonlinear systems and generalizes the concept of integral sliding mode for networked systems. This design relies upon an integral manifold which is defined as a function of the consensus error variables. The designed integral manifold helps in the establishment of sliding mode without reaching phase. Consequently, the robustness against uncertainties is guaranteed from the very start. The continuous control components, of the control laws, governs the dynamics of the nonlinear system in sliding mode and the discontinuous terms handle the disturbances. The stability analysis is given to show the sliding mode establishment and an example is considered to demonstrate the benefits of the proposed strategy.
Hybrid Consensus-Based Formation Control of Nonholonomic Mobile Robots
In this chapter, a hybrid consensus-based formation controller is designed for mobile robots. First, omnidirectional (holonomic) robots are considered in the controller development to create a hybrid automaton, which drives the robots to their goal positions while maintaining a specified formation. The controller consists of two discrete modes, each with continuous dynamics: a regulation mode and a formation keeping mode. The controller in the regulation mode is designed to drive the robot to a goal position, while the formation keeping controller ensures that the robots achieve a specified geometric formation prior to reaching their goal-position. The proposed approach is subsequently extended to include formation control of nonholonomic mobile robots. Lyapunov methods are used to demonstrate that the formation errors converge to a small bounded region around the origin; moreover, the size of the bound can be adjusted by using the switching conditions. Convergence to goal position while in formation is also demonstrated in the same Lyapunov analysis, and simulation results verify the theoretical conjectures.
Formation Control of Multi-robots Via Sliding-mode Technique
International Conference on Informatics in Control, Automation and Robotics, 2010
This paper addresses the control of a team of nonholonomic mobile robots. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the sliding-mode controller to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control laws has been proved by simulation on different situations.
In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems (MASs) in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control scheme is constructed recursively by the backstepping method, graph theory, neural networks (NNs) and the dynamic surface control (DSC) approach. The key advantage of the proposed control strategy is that, by the DSC technique, it avoids "explosion of complexity" problem along with the increase of the degree of individual agents and thus the computational burden of the scheme can be drastically reduced. Moreover, there is no requirement for prior knowledge about system parameters of individual agents and uncertain dynamics by employing NNs approximation technology. We then further show that, in theory, the designed control policy guarantees the consensus errors to be cooperatively semi-globally uniformly ultimately bounded (CSUUB). Finally, two examples are presented to validate the effectiveness of the proposed control strategy.
Consensus tracking for multiagent systems with nonlinear dynamics
TheScientificWorldJournal, 2014
This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader. In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies. Several numerical simulations are given to verify the theoretical results.
Sliding-mode control of coordinated nonholonomic mobile manipulators
2011
Coordinated systems of multiple mobile manipulators can be much more flexible than single mobile manipulator in order to accomplish complex and changeable tasks. In this paper, sliding-mode control strategies are used to control the coordinated multiple mobile manipulators which carry a common object. The control ensures that the output tracking errors of the system converge to zero. Simulation studies show the effectiveness of the proposed scheme.
Consensus for formation control of nonholonomic mobile robots
2009 IEEE International Conference on Robotics and Automation, 2009
In this article we present novel formation control laws based on artificial potential fields and consensus algorithms for a group of unicycles enabling arbitrary formation patterns for these nonholonomic vehicles. Given connected and balanced graphs we are able to prove stability of the rendezvous controller by applying the LaSalle-Krasovskii invariance principle. Further, we introduce obstacle avoidance, enabling a reactive behavior of the robotic group in unknown environments. The effectiveness of the proposed controllers is shown using computer simulations and finally, a classification w.r.t. existing solutions is done.