Distributed Finite-Time Cooperative Control of Multiple High-Order Nonholonomic Mobile Robots

The consensus problem of multiple nonholonomic mobile robots in the form of high-order chained structure is considered in this paper. Based on the model features and the finite-time control technique, a finite-time cooperative controller is explicitly constructed which guarantees that the states con...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transaction on neural networks and learning systems 2017-12, Vol.28 (12), p.2998-3006
Main Authors: Du, Haibo, Wen, Guanghui, Cheng, Yingying, He, Yigang, Jia, Ruting
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Chain mobility
Computer simulation
Control algorithms
Control theory
Convergence
Cooperative control
Decentralized control
Distributed control
finite-time consensus
Indexes
Mobile robots
Multi-agent systems
multiagent system
nonholonomic mobile robot
Robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The consensus problem of multiple nonholonomic mobile robots in the form of high-order chained structure is considered in this paper. Based on the model features and the finite-time control technique, a finite-time cooperative controller is explicitly constructed which guarantees that the states consensus is achieved in a finite time. As an application of the proposed results, finite-time formation control of multiple wheeled mobile robots is studied and a finite-time formation control algorithm is proposed. To show effectiveness of the proposed approach, a simulation example is given.
ISSN:2162-237X
2162-2388
DOI:10.1109/TNNLS.2016.2610140