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Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots

หน่วยงาน Nanyang Technological University, Singapore

รายละเอียด

ชื่อเรื่อง : Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots
นักวิจัย : Wang, Wei , Huang, Jiangshuai , Wen, Changyun , Fan, Huijin
คำค้น : DRNTU::Engineering::Electrical and electronic engineering
หน่วยงาน : Nanyang Technological University, Singapore
ผู้ร่วมงาน : -
ปีพิมพ์ : 2557
อ้างอิง : Wang, W., Huang, J., Wen, C., & Fan, H. (2014). Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots. Automatica, 50(4), 1254-1263. , 0005-1098 , http://hdl.handle.net/10220/19833 , http://dx.doi.org/10.1016/j.automatica.2014.02.028
ที่มา : -
ความเชี่ยวชาญ : -
ความสัมพันธ์ : Automatica
ขอบเขตของเนื้อหา : -
บทคัดย่อ/คำอธิบาย :

In this paper, we investigate the output consensus problem of tracking a desired trajectory for a class of systems consisting of multiple nonlinear subsystems with intrinsic mismatched unknown parameters. The subsystems are allowed to have non-identical dynamics, whereas with similar structures and the same yet arbitrary system order. And the communication status among the subsystems can be represented by a directed graph. Different from the traditional centralized tracking control problem, only a subset of the subsystems can obtain the desired trajectory information directly. A distributed adaptive control approach based on backstepping technique is proposed. By introducing the estimates to account for the parametric uncertainties of the desired trajectory and its neighbors' dynamics into the local controller of each subsystem, information exchanges of online parameter estimates and local synchronization errors among linked subsystems can be avoided. It is proved that the boundedness of all closed-loop signals and the asymptotically consensus tracking for all the subsystems' outputs are ensured. A numerical example is illustrated to show the effectiveness of the proposed control scheme. Moreover, the design strategy is successfully applied to solve a formation control problem for multiple nonholonomic mobile robots.

บรรณานุกรม :
Wang, Wei , Huang, Jiangshuai , Wen, Changyun , Fan, Huijin . (2557). Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots.
    กรุงเทพมหานคร : Nanyang Technological University, Singapore.
Wang, Wei , Huang, Jiangshuai , Wen, Changyun , Fan, Huijin . 2557. "Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots".
    กรุงเทพมหานคร : Nanyang Technological University, Singapore.
Wang, Wei , Huang, Jiangshuai , Wen, Changyun , Fan, Huijin . "Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots."
    กรุงเทพมหานคร : Nanyang Technological University, Singapore, 2557. Print.
Wang, Wei , Huang, Jiangshuai , Wen, Changyun , Fan, Huijin . Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots. กรุงเทพมหานคร : Nanyang Technological University, Singapore; 2557.