Open AccessPeriodic event‐triggered cooperative control of multiple non‐holonomic wheeled mobile robots
Author(s) -
Chen Xia,
Hao Fei,
Ma Baoli
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.0960
Subject(s) - holonomic , control theory (sociology) , algebraic graph theory , mobile robot , invertible matrix , centroid , mathematics , double integrator , position (finance) , nonholonomic system , robot , computer science , graph , control (management) , artificial intelligence , geometry , discrete mathematics , finance , pure mathematics , economics
This study investigates the periodic event‐triggered control for the hand position centroid consensus/formation problems of multiple non‐holonomic wheeled mobile robots. By constructing invertible input transformation, the dynamics of the hand positions are formulated as two groups of first‐order integrators. Then, the event‐triggered control laws and the event conditions are proposed. On the basis of Lyapunov theory and the algebraic graph theory, permissible value ranges of the sampling period and the event condition parameters are established, guaranteeing that all the hand positions asymptotically tend to the common initial centroid location or the desired formation shape centred at the initial centroid. In addition, the orientations and the velocity inputs of each robot are ensured to reach some constants and zeros, respectively. Finally, simulations illustrate the efficiency of the proposed theoretical results.