Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks

doi:10.1016/j.automatica.2016.11.027

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	Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks
	Liu, Zhixin1 ; Wang, Lin 2; Wang, Jinhuan 3; Dong, Daoyi 4; Hu, Xiaoming 5
	2017-03-01
发表期刊	AUTOMATICA
ISSN	0005-1098
卷号	77 页码:170-179
摘要	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. (C) 2016 Elsevier Ltd. All rights reserved.
关键词	Distributed control Unicycle Synchronization Sampled-data Hybrid system Leader-follower model
DOI	10.1016/j.automatica.2016.11.027
语种	英语
资助项目	National Natural Science Foundation of China[61273221] ; National Natural Science Foundation of China[61473189] ; National Key Basic Research Program of China (973 program)[2014CB845302] ; Australian Research Council's Discovery Projects funding scheme[DP130101658]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000395354700017
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/24925
专题	系统科学研究所
通讯作者	Liu, Zhixin
作者单位	1.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China 2.Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China 3.Hebei Univ Technol, Sch Sci, Tianjin 300401, Peoples R China 4.Univ New South Wales, Sch Engn & Informat Technol, Canberra, ACT 2600, Australia 5.KTH Royal Inst Technol, Optimizat & Syst Theory, S-10044 Stockholm, Sweden
推荐引用方式 GB/T 7714	Liu, Zhixin,Wang, Lin,Wang, Jinhuan,et al. Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks[J]. AUTOMATICA,2017,77:170-179.
APA	Liu, Zhixin,Wang, Lin,Wang, Jinhuan,Dong, Daoyi,&Hu, Xiaoming.(2017).Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks.AUTOMATICA,77,170-179.
MLA	Liu, Zhixin,et al."Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks".AUTOMATICA 77(2017):170-179.