2,733 research outputs found
Chatter-Free Distributed Control for Multi-agent Nonholonomic Wheeled Mobile Robot
This paper proposes to design a chatter-free distributed control for multiagent nonholonomic wheeled mobile robot systems employing terminal exponential functions with graph theory. The terminal tracking criteria are estimated using the Lyapunov approach. The development of distributed control for nonholonomic multiagent wheeled robot systems is defined in the paper along with consensus tracking for undirected fixed/switched topologies. Numerical simulations have been done in order to assess the efficacy and efficiency of the proposed distributed control method in multiple scenarios
Distributed Robust Consensus Control of Multi-agent Systems with Heterogeneous Matching Uncertainties
This paper considers the distributed consensus problem of linear multi-agent
systems subject to different matching uncertainties for both the cases without
and with a leader of bounded unknown control input. Due to the existence of
nonidentical uncertainties, the multi-agent systems discussed in this paper are
essentially heterogeneous. For the case where the communication graph is
undirected and connected, a distributed continuous static consensus protocol
based on the relative state information is first designed, under which the
consensus error is uniformly ultimately bounded and exponentially converges to
a small adjustable residual set. A fully distributed adaptive consensus
protocol is then designed, which, contrary to the static protocol, relies on
neither the eigenvalues of the Laplacian matrix nor the upper bounds of the
uncertainties. For the case where there exists a leader whose control input is
unknown and bounded, distributed static and adaptive consensus protocols are
proposed to ensure the boundedness of the consensus error. It is also shown
that the proposed protocols can be redesigned so as to ensure the boundedness
of the consensus error in the presence of bounded external disturbances which
do not satisfy the matching condition. A sufficient condition for the existence
of the proposed protocols is that each agent is stabilizable.Comment: 16 page, 10 figures. This manuscript is an extended version of our
paper accepted for publication by Automatic
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