2,434 research outputs found
Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks
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
neighbour rules, which in conjunction with continuous-time dynamics results in
hybrid closed-loop systems. For uniformly and independently 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.Comment: 15 pages, 3 figure
Containment Control of Multi-Agent Systems with Dynamic Leaders Based on a -Type Approach
This paper studies the containment control problem of multi-agent systems
with multiple dynamic leaders in both the discrete-time domain and the
continuous-time domain. The leaders' motions are described by -order
polynomial trajectories. This setting makes practical sense because given some
critical points, the leaders' trajectories are usually planned by the
polynomial interpolations. In order to drive all followers into the convex hull
spanned by the leaders, a -type ( and are short for {\it
Proportion} and {\it Integration}, respectively; implies that the
algorithm includes high-order integral terms) containment algorithm is
proposed. It is theoretically proved that the -type containment algorithm
is able to solve the containment problem of multi-agent systems where the
followers are described by any order integral dynamics. Compared with the
previous results on the multi-agent systems with dynamic leaders, the
distinguished features of this paper are that: (1) the containment problem is
studied not only in the continuous-time domain but also in the discrete-time
domain while most existing results only work in the continuous-time domain; (2)
to deal with the leaders with the -order polynomial trajectories,
existing results require the follower's dynamics to be -order integral while
the followers considered in this paper can be described by any-order integral;
and (3) the "sign" function is not employed in the proposed algorithm, which
avoids the chattering phenomenon. Furthermore, in order to illustrate the
practical value of the proposed approach, an application, the containment
control of multiple mobile robots is studied. Finally, two simulation examples
are given to demonstrate the effectiveness of the proposed algorithm
- …