Open AccessGroup consensus coordination control in networked nonholonomic multirobot systems
Author(s) -
Tiehui Zhang,
Jun Li,
Hengyu Li,
Shaorong Xie,
Jun Luo
Publication year - 2021
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.1177/17298814211027701
Subject(s) - computer science , nonholonomic system , kinematics , convergence (economics) , multi agent system , topology (electrical circuits) , control theory (sociology) , group (periodic table) , partition (number theory) , network topology , distributed computing , mathematical optimization , mobile robot , robot , control (management) , mathematics , artificial intelligence , computer network , chemistry , physics , organic chemistry , classical mechanics , combinatorics , economics , economic growth
In this article, the coordination control problem of group tracking consensus is considered for networked nonholonomic mobile multirobot systems (NNMMRSs). This problem framework generalizes the findings of complete consensus in NNMMRSs and group consensus in networked Lagrangian systems (NLSs), enjoying capacious application backgrounds. By leveraging a kinematic controller embedded in the adaptive torque control protocols, a new convergence criterion of group consensus is established. In contrast to the formulation under strict algebraic assumptions, it is found that group tracking consensus for NNMMRSs can be realized under a simple geometrical condition. The system stability analysis is dictated by the property of network topology with acyclic partition. Finally, the theoretical achievements are verified by illustrative numerical examples. The results show an interesting phenomenon that, for NNMMRSs, the state responses exhibit negative correlation with the algebraic connectivity and coupling strength.