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Robust consensus of unicycles using ternary and hybrid controllers
Author(s) -
Jafarian Matin
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3784
Subject(s) - control theory (sociology) , controller (irrigation) , ternary operation , simple (philosophy) , set (abstract data type) , computer science , control (management) , mathematics , control engineering , engineering , artificial intelligence , philosophy , epistemology , agronomy , biology , programming language
Summary This paper presents consensus of the orientations and average positions for a group of unicycles using ternary and hybrid controllers. The decentralized controllers designed to reach consensus of the average positions take only values in the set {−1,0,+1}. In addition, a hybrid controller is introduced to control the orientations. Finite‐time practical consensus of the average positions is proven despite the simple ternary control laws together with asymptotic consensus of the orientations. Furthermore, the consensus problem is studied in the presence of matched input disturbances that are locally rejected using an internal‐model‐based controller. The analysis is performed in a hybrid framework. Simulation results illustrate the effectiveness of the design. Copyright © 2017 John Wiley & Sons, Ltd.