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Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks
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2017 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 77, p. 170-179Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 77, p. 170-179
Keywords [en]
Distributed control, Hybrid system, Leader–follower model, Sampled-data, Synchronization, Unicycle
National Category
Other Engineering and Technologies
Identifiers
URN: urn:nbn:se:kth:diva-200980DOI: 10.1016/j.automatica.2016.11.027Scopus ID: 2-s2.0-85009168092OAI: oai:DiVA.org:kth-200980DiVA, id: diva2:1072674
Note

QC 20170208

Available from: 2017-02-08 Created: 2017-02-07 Last updated: 2017-11-29Bibliographically approved

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Hu, Xiaoming
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  • apa
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  • de-DE
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  • nn-NB
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  • Other locale
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Output format
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  • text
  • asciidoc
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