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

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• 作者：Zhixin Liu^a ; ^{Lzx@amss.ac.cn}Author Vitae ; Lin Wang^b ; ^{wanglin@sjtu.edu.cn}Author Vitae ; Jinhuan Wang^c ; ^{jinhuan@hebut.edu.cn}Author Vitae ; Daoyi Dong^d ; ^{daoyidong@gmail.com}Author Vitae ; Xiaoming Hu^e ; ^hu@kth.seAuthor Vitae
• 关键词：Distributed control ; Unicycle ; Synchronization ; Sampled-data ; Hybrid system ; Leader&ndash ; follower model
• 刊名：Automatica
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：77
• 期：Complete
• 页码：170-179
• 全文大小：798 K
• 卷排序：77

文摘

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.