A Distributed Consensus Control Law for Non-Holonomic Systems
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- 英文论文题名：A Distributed Consensus Control Law for Non-Holonomic Systems
- 论文作者：XIA Wubin ; ZHAO Yixin ; HUANG Wei
- 英文论文作者：XIA Wubin ; ZHAO Yixin ; HUANG Wei ; School of Computer and Information Science ; Southwest University
- 年：2017
- 作者机构：School of Computer and Information Science,Southwest University;
- 英文论文关键词：consensus control ; non-holonomic systems ; Lyapunov direct method ; LaSalle invariance principle
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP13
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：1907k
- 原文格式：D
- 会议级别：全国
摘要
This paper considers the consensus control problem for a class of non-holonomic chained systems. A smooth static distributed control algorithm is proposed with the aid of the Lyapunov direct method and La Salle invariance principle. Strict stability analysis for the closed-loop system is presented, proving the global asymptotic convergence of the consensus errors to zero under the undirected connected assumption on communication topology. A numeric simulation is carried out showing the effectiveness of the proposed algorithm.
This paper considers the consensus control problem for a class of non-holonomic chained systems. A smooth static distributed control algorithm is proposed with the aid of the Lyapunov direct method and La Salle invariance principle. Strict stability analysis for the closed-loop system is presented, proving the global asymptotic convergence of the consensus errors to zero under the undirected connected assumption on communication topology. A numeric simulation is carried out showing the effectiveness of the proposed algorithm.
This paper considers the consensus control problem for a class of non-holonomic chained systems. A smooth static distributed control algorithm is proposed with the aid of the Lyapunov direct method and La Salle invariance principle. Strict stability analysis for the closed-loop system is presented, proving the global asymptotic convergence of the consensus errors to zero under the undirected connected assumption on communication topology. A numeric simulation is carried out showing the effectiveness of the proposed algorithm.
引文
[1]X.Chen,F.Hao,and B.Ma,Periodic event-triggered cooperative control of multiple non-holonomic wheeled mobile robots,IET Control Theory&Applications,2017.
[2]A.Sadowska,T.Broek,and H.Huijberts,A virtual structure approach to formation control of unicycle mobile robots using mutual coupling,International Journal of Control,84(11):1886-1902,2011.
[3]M.Defoort,T.Floquet,and A.Kokosy,Sliding-Mode formation control for cooperative autonomous mobile robots,IEEE Transactions on Industrial Electronics,55(11):3944-3953,2008.
[4]W.Xie,B.Ma,Position centroid rendezvous and centroid formation of multiple unicycle agents,IET Control Theory&Applications,8(17):2055-2061,2014.
[5]H.Su,X.Wang,and G.Chen,Rendezvous of multiple mobile agents with preserved network connectivity,Systems&Control Letters,59(5):313-322,2010.
[6]R.Olfati-Saber.Flocking for multi-agent dynamic systems:algorithms and theory,IEEE Transactions on Automatic Control,51(3):401-420,2006.
[7]R.Olfati-Saber,R.M.Murray,Consensus problems in networks of agents with switching topology and time-delays,IEEE Transactions on Automatic Control,49(9):1520-1533,2004.
[8]X.Chen,F.Hao,Event-triggered average consensus control for discrete-time multi-agent systems,IET Control Theory&Applications,6(16):2493-2498,2012.
[9]Z.Li,G.Wen,and Z.Duan,Designing fully distributed consensus protocols for linear multi–agent systems with directed graphs,IEEE Transactions on Automatic Control,60(4):1152-1157,2014.
[10]G.Zhai,S.Okuno,and J.Imae,Consensus algorithms for multi–agent systems:A matrix inequality based approach,in Proceedings of the 2009 IEEE International Conference on Networking,Sensing and Control,89-896,2009.
[11]W.Ren,R.W.Beard,Consensus seeking in multi-agent systems under dynamically changing interaction topologies,IEEE Transactions on Automatic Control,50(5):655-661,2005.
[12]H.Du,Y.Cheng,and Y.He,Second-order consensus for nonlinear leader–following multi-agent systems via dynamic output feedback control,International Journal of Robust&Nonlinear Control,26(2):329–344,2015.
[13]Z.Zuo,Nonsingular fixed-time consensus tracking for second-order multi-agent network,Automatica,54(C):305-309,2015.
[14]D.V.Dimarogonas,K.J.Kyriakopoulos,On the state agreement problem for multiple unicycles with varying communication links,in American Control Conference,4283-4288,2006.
[15]Z.Lin,B.Francis,and M.Maggiore,Necessary and sufficient graphical conditions for formation control of unicycles.IEEE Transactions on Automatic Control,50(1):121-127,2005.
[16]H.Du,G.Wen,and X.Yu,Finite-time consensus of multiple non-holonomic chained-form systems based on recursive distributed observer,Automatica,62:236-242,2015.
[17]M.Defoort,Z.Zuo,and M.Djemai,Fixed-time stabilization and consensus of non-holonomic systems,IET Control Theory and Applications,10(18):2497-2505,2016.
[18]W.Dong,J.A.Farrell,Cooperative control of multiple non-holonomic mobile agents,IEEE Transactions on Automatic Control,53(6):1434-1448,2008.
[19]K.C.Cao,B.Jiang,and D.Yue,Consensus of multiple non-holonomic chained form systems,Systems&Control Letters,72:61-70,2014.
[20]D.V.Dimarogonas,KJ.Kyriakopoulos,On the rendezvous problem for multiple non-holonomic agents,IEEE Transactions on Automatic Control,52(5):916-922,2007.
[21]R.Zheng,D.Sun,Rendezvous of unicycles:A bearings-only and perimeter shortening approach.Systems&Control Letters,62(5):401-407,2013.
[22]W.Dong,On consensus algorithms of multiple uncertain mechanical systems with a reference trajectory,Automatica,47(9):2023-2028,2011.
[23]A.V.Savkin,C.Wang,and A.Baranzadeh,Distributed formation building algorithms for groups of wheeled mobile robots,Robotics&Autonomous Systems,75(PB):463-474,2016.
[24]G.Zhai,J.Takeda,and J.Imae,Towards consensus in networked non-holonomic systems,IET Control Theory&Applications,4(10):2212-2218,2010.
[25]J.Ghommam,H.Mehrjerdi,and F.Mnif,Cascade design for formation control of non-holonomic systems in chained form,Journal of the Franklin Institute,348(348):973-998,2011.
[26]R.A.Horn,C.R.Johnson,Matrix Analysis,Cambridge University Press,1985,Section 2.3
[2]A.Sadowska,T.Broek,and H.Huijberts,A virtual structure approach to formation control of unicycle mobile robots using mutual coupling,International Journal of Control,84(11):1886-1902,2011.
[3]M.Defoort,T.Floquet,and A.Kokosy,Sliding-Mode formation control for cooperative autonomous mobile robots,IEEE Transactions on Industrial Electronics,55(11):3944-3953,2008.
[4]W.Xie,B.Ma,Position centroid rendezvous and centroid formation of multiple unicycle agents,IET Control Theory&Applications,8(17):2055-2061,2014.
[5]H.Su,X.Wang,and G.Chen,Rendezvous of multiple mobile agents with preserved network connectivity,Systems&Control Letters,59(5):313-322,2010.
[6]R.Olfati-Saber.Flocking for multi-agent dynamic systems:algorithms and theory,IEEE Transactions on Automatic Control,51(3):401-420,2006.
[7]R.Olfati-Saber,R.M.Murray,Consensus problems in networks of agents with switching topology and time-delays,IEEE Transactions on Automatic Control,49(9):1520-1533,2004.
[8]X.Chen,F.Hao,Event-triggered average consensus control for discrete-time multi-agent systems,IET Control Theory&Applications,6(16):2493-2498,2012.
[9]Z.Li,G.Wen,and Z.Duan,Designing fully distributed consensus protocols for linear multi–agent systems with directed graphs,IEEE Transactions on Automatic Control,60(4):1152-1157,2014.
[10]G.Zhai,S.Okuno,and J.Imae,Consensus algorithms for multi–agent systems:A matrix inequality based approach,in Proceedings of the 2009 IEEE International Conference on Networking,Sensing and Control,89-896,2009.
[11]W.Ren,R.W.Beard,Consensus seeking in multi-agent systems under dynamically changing interaction topologies,IEEE Transactions on Automatic Control,50(5):655-661,2005.
[12]H.Du,Y.Cheng,and Y.He,Second-order consensus for nonlinear leader–following multi-agent systems via dynamic output feedback control,International Journal of Robust&Nonlinear Control,26(2):329–344,2015.
[13]Z.Zuo,Nonsingular fixed-time consensus tracking for second-order multi-agent network,Automatica,54(C):305-309,2015.
[14]D.V.Dimarogonas,K.J.Kyriakopoulos,On the state agreement problem for multiple unicycles with varying communication links,in American Control Conference,4283-4288,2006.
[15]Z.Lin,B.Francis,and M.Maggiore,Necessary and sufficient graphical conditions for formation control of unicycles.IEEE Transactions on Automatic Control,50(1):121-127,2005.
[16]H.Du,G.Wen,and X.Yu,Finite-time consensus of multiple non-holonomic chained-form systems based on recursive distributed observer,Automatica,62:236-242,2015.
[17]M.Defoort,Z.Zuo,and M.Djemai,Fixed-time stabilization and consensus of non-holonomic systems,IET Control Theory and Applications,10(18):2497-2505,2016.
[18]W.Dong,J.A.Farrell,Cooperative control of multiple non-holonomic mobile agents,IEEE Transactions on Automatic Control,53(6):1434-1448,2008.
[19]K.C.Cao,B.Jiang,and D.Yue,Consensus of multiple non-holonomic chained form systems,Systems&Control Letters,72:61-70,2014.
[20]D.V.Dimarogonas,KJ.Kyriakopoulos,On the rendezvous problem for multiple non-holonomic agents,IEEE Transactions on Automatic Control,52(5):916-922,2007.
[21]R.Zheng,D.Sun,Rendezvous of unicycles:A bearings-only and perimeter shortening approach.Systems&Control Letters,62(5):401-407,2013.
[22]W.Dong,On consensus algorithms of multiple uncertain mechanical systems with a reference trajectory,Automatica,47(9):2023-2028,2011.
[23]A.V.Savkin,C.Wang,and A.Baranzadeh,Distributed formation building algorithms for groups of wheeled mobile robots,Robotics&Autonomous Systems,75(PB):463-474,2016.
[24]G.Zhai,J.Takeda,and J.Imae,Towards consensus in networked non-holonomic systems,IET Control Theory&Applications,4(10):2212-2218,2010.
[25]J.Ghommam,H.Mehrjerdi,and F.Mnif,Cascade design for formation control of non-holonomic systems in chained form,Journal of the Franklin Institute,348(348):973-998,2011.
[26]R.A.Horn,C.R.Johnson,Matrix Analysis,Cambridge University Press,1985,Section 2.3