Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks
- Autores: Zhixin Liu, Lin Wang, Jinhuan Wang, Daoyi Dong, Xiaoming Hu
- Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 77, 2017, págs. 170-179
- Idioma: inglés
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Resumen
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 neighbor rules, which in conjunction with continuous-time dynamics results in hybrid closed-loop systems. For uniform and independent 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.
