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Title of Journal: Nonlinear Dyn

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Abbravation: Nonlinear Dynamics

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Springer Netherlands

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DOI

10.1007/bf00705232

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ISSN

1573-269X

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Distributed consensusbased formation control for

Authors: Zhaoxia Peng Guoguang Wen Shichun Yang Ahmed Rahmani
Publish Date: 2016/06/25
Volume: 86, Issue: 1, Pages: 605-622
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Abstract

This paper investigates the distributed formation control problem for multiple nonholonomic wheeled mobile robots A variable transformation is first proposed to convert the formation control problem into a state consensus problem Then when the dynamics of the mobile robots are considered the distributed kinematic controllers and neural network torque controllers are derived for each robot such that a group of nonholonomic mobile robots asymptotically converge to a desired geometric pattern along the specified reference trajectory The specified reference trajectory is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers Also the followers are assumed to have only local interaction Moreover the neural network torque controllers proposed in this work can tackle the dynamics of robots with unmodeled bounded disturbances and unstructured unmodeled dynamics Some sufficient conditions are derived for accomplish the asymptotically stability of the systems based on algebraic graph theory matrix theory and Lyapunov control approach Finally simulation examples illustrate the effectiveness of the proposed controllersThis work is supported by the Fundamental Research Funds for the Central Universities Nos YWF14RSC032 YWF15SYSJTXY007 YWF16BJY21 by the Laboratoire international associé and by the National Natural Science Foundation of China under Grants 61403019 61503016

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