A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Advanced Search
Volume 1 Issue 2
Apr.  2014

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 11.8, Top 4% (SCI Q1)
    CiteScore: 17.6, Top 3% (Q1)
    Google Scholar h5-index: 77， TOP 5
Turn off MathJax
Article Contents
Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2014  >  1(2): 162-170
Kecai Cao, Bin Jiang and Dong Yue, "Distributed Consensus of Multiple Nonholonomic Mobile Robots," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 2, pp. 162-170, 2014.
Citation: Kecai Cao, Bin Jiang and Dong Yue, "Distributed Consensus of Multiple Nonholonomic Mobile Robots," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 2, pp. 162-170, 2014.
shu

Distributed Consensus of Multiple Nonholonomic Mobile Robots

  • 1. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;

  • 2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210003, China;

  • 3. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210003, China;

  • 4. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023, China

Funds:

This work was supported by National Natural Science Foundation of China (61374055, 61273171, 61304106, 61203028), Natural Science Foundation of Jiangsu Province (BK20131364, BK20130381), China Postdoctoral Science Foundation (2013M541663), Foundation for the Doctoral Program of Ministry of Education of China (20113218110011), Jiangsu Planned Projects for Postdoctoral Research Funds (1202015C), Natural Science Foundation of the Jiangsu Higher Education Institutions (11KJB510011, 12KJB120005), Qing Lan Project of Jiangsu 2010, Foundation of Nanjing University of Posts and Telecommunications (NY211066), Scientific Research Foundation for the Returned Oversea Chinese Scholars of State Education Ministry (BJ213022).

    Abstract
  • 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.

     

    • FullText(HTML)
  • loading
    • References(36)
  • [1]
    DeGroot T, Morris H. Reaching a consensus. Journal of the American Statistical Association, 1974, 69(345):118-121
    [2]
    Jadbabaie A, Lin J, Morse A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 2003, 48(6):988-1001
    [3]
    Ren W, Moore K, Chen Y Q. High-order and model reference consensus algorithms in cooperative control of multi vehicle systems. Journal of Dynamic Systems, Measurement, and Control, 2007, 129(5):678-688
    [4]
    Olfati-Saber R, Fax J A, Murray R M. Consensus and cooperation in networked multiagent systems. Proceedings of the IEEE, 2007, 95(1):215-233
    [5]
    Fax J A, Murray R M. Information flow and cooperative control of vehicle formations. IEEE Transactions on Automatic Control, 2004, 49(9):1465-1476
    [6]
    Ren W. Multi-vehicle consensus with a time-varying reference state. Systems & Control Letters, 2007, 56(7-8):474-483
    [7]
    Ren W, Atkins E. Distributed multi-vehicle coordinated control via local information exchange. International Journal of Robust and Nonlinear Control, 2007, 17(10-11):1002-1033
    [8]
    Ren W. On consensus algorithms for double-integrator dynamics. IEEE Transactions on Automatic Control, 2008, 53(6):1503-1509
    [9]
    Xie G M, Wang L. Consensus control for a class of networks of dynamic agents. International Journal of Robust and Nonlinear Control, 2007, 17(10-11):941-959
    [10]
    Massioni P, Verhaegen M. Distributed control for identical dynamically coupled systems a decomposition approach. IEEE Transactions on Automatic Control, 2009, 54(1):124-135
    [11]
    Popov A, Werner H. Robust stability of a multi-agent system under arbitrary and time-varying communication topologies and communication delays. IEEE Transactions on Automatic Control, 2012, 57(9):2343-2347
    [12]
    Ghadami R. Distributed Control of Multi-agent Systems with Switching Topology, Delay, and Link Failure[Ph. D. dissertation], Northeastern University, United States, 2012
    [13]
    Ghadami R, Shafai B. Decomposition-based distributed control for continuous-time multi-agent systems. IEEE Transactions on Automatic Control, 2013, 58(1):258-264
    [14]
    Langbort C, Chandra R S, D'Andrea R. Distributed control design for systems interconnected over an arbitrary graph. IEEE Transactions on Automatic Control, 2004, 49(9):1502-1519
    [15]
    Liu T F, Hill D J, Jiang Z P. Lyapunov formulation of ISS cyclic-smallgain in continuous-time dynamical networks. Automatica, 2011, 47(9):2088-2093
    [16]
    Wang X, Liu T, Qin J. Second-order consensus with unknown dynamics via cyclic-small-gain method. IET Control Theory and Applications, 2012, 6(18):2748-2756
    [17]
    Liao F, Lum K Y, Wang J L, Benosman M. Adaptive control allocation for non-linear systems with internal dynamics. IET Control Theory and Applications, 2009, 4(6):909-922
    [18]
    Arcak M. Passivity as a design tool for group coordination. IEEE Transactions on Automatic Control, 2007, 52(8):1380-1390
    [19]
    Ihle I A F, Arcak M, Fossen T I. Passivity-based designs for synchronized path-following. Automatica, 2007, 43(9):1508-1518
    [20]
    Schlanbusch R, Loria A, Nicklasson P J. Cascade-based controlled attitude synchronization and tracking of spacecraft in leader-follower formation. International Journal of Aerospace Engineering, 2011, Article ID151262, DOI: 10.1155/2011/151262
    [21]
    Loría A. Cascades-based synchronization of hyperchaotic systems:application to chen systems. Chaos, Solitons & Fractals, 2011, 44(9):702-709
    [22]
    Brockett R W. Asymptotic stability and feedback stabilization. Differential Geometric Control Theory. Boston:Birkhauser, 1983. 181-191
    [23]
    Yamaguchi H, Arai T, Beni G. A distributed control scheme for multiple robotic vehicles to make group formations. Robotics and Autonomous Systems, 2001, 36(4):125-147
    [24]
    Lin Z Y, Francis B, Maggiore M. Necessary and sufficient graphical conditions for formation control of unicycles. IEEE Transactions on Automatic Control, 2005, 50(1):121-127
    [25]
    Ghabcheloo R. Coordinated Path Following of Multiple Autonomous Vehicles[Ph. D. dissertation], Technical University of Lisbon, Portugal, 2007
    [26]
    Ceccarelli N, Di Marco M, Garulli A, Giannitrapani A. Collective circular motion of multi-vehicle systems. Automatica, 2008, 44(12):3025-3035
    [27]
    Liu T F, Jiang Z P. Distributed formation control of nonholonomic mobile robots without global position measurements. Automatica, 2013, 49(2):592-600
    [28]
    Dong W J, Farrell J A. Cooperative control of multiple nonholonomic mobile agents. IEEE Transactions On Automatic Control, 2008, 53(6):1434-1448
    [29]
    Lee D J. Passive decomposition and control of nonholonomic mechanical systems. IEEE Transactions on Robotics, 2010, 26(6):978-992
    [30]
    Zhai G S, Takeda J, Imae J, Kobayashi T. Towards consensus in networked non-holonomic systems. IET Control Theory and Applications, 2010, 4(10):2212-2218
    [31]
    Lefeber E. Tracking Control of Nonlinear Mechanical Systems.[Ph. D. dissertation], Universiteit Twente, The Netherlands, 2000
    [32]
    Slotine J J, Li W P. Applied Nonlinear Control. Englewood Cliffs, NJ:Prentice-Hall, 1991. 115
    [33]
    Panteley E, Loria A. On global uniform asymptotic stability of nonlinear time-varying systems in cascade. Systems & Control Letters, 1998, 33(2):131-138
    [34]
    Isidori A. Nonlinear Control Systems. London:Springer, 1995. 427
    [35]
    Murray R M. Recent research in cooperative control of multivehicle systems. Journal of Dynamic Systems, Measurement, and Control, 2007, 129(5):571-583
    [36]
    Cao K C, Jiang B, Chen Y Q. Cooperative control design for nonholonomic chained-form systems. International Journal of Systems Science, DOI: 10.1080/00207721.2013.809615
    • Related Articles
    • Supplements(0)

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views (1235) PDF downloads(26) Cited by()

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return