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arXiv · 1609.02174

Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks

Zhixin Liu·Lin Wang·Jinhuan Wang·Daoyi Dong·Xiaoming Hu
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Abstract

This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be caused by abrupt changes of positions when updating information from neighbors. Distributed sampled-data control laws are designed based on nearest neighbour rules, which in conjunction with continuous-time dynamics results in hybrid closed-loop systems. For uniformly and independently initial states, a sufficient condition is provided to guarantee synchronization for the system without leaders. In order to steer all robots to move with the desired orientation and speed, we then introduce a number of leaders into the system, and quantitatively establish the proportion of leaders needed to track either constant or time-varying signals. All these conditions depend only on the neighborhood radius, the maximum initial moving speed and the dwell time, without assuming a prior properties of the neighbor graphs as are used in most of the existing literature.

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Zhixin Liu, Lin Wang, Jinhuan Wang, Daoyi Dong, Xiaoming Hu. 2016-09-07. Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks. https://doi.org/10.1016/j.automatica.2016.11.027

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