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Distributed Consensus of Multiple Nonholonomic Mobile Robots |
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| Authors: | Kecai Cao Bin Jiang Dong Yue |
| Affiliation: | 1. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210003, China;3. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210003, China;4. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023, China |
| Abstract: | Consensus problems of multiple nonholonomic mobile robots are considered in this paper. These problems are simplified into consensus problems of two subsystems based on structure of nonholonomic mobile robots. Linear distributed controllers are constructed respectively for these two subsystems thanks to the theory of nonautonomous cascaded systems. Consensus of multiple nonholonomic mobile robots has been realized using the methodology proposed in this paper no matter whether the group reference signal is persistent excitation or not. Different from previous research on cooperative control of nonholonomic mobile robots where the consensus problem under persistent exciting reference has received a lot of attention, this paper reports the first consensus result for multiple nonholonomic mobile robots whose group reference converges to zero. Simulation results using Matlab illustrate the effectiveness of the proposed controllers in this paper. |
| Keywords: | Nonholonomic mobile robots consensus cascaded systems persistent excitation |
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