Cooperative Control of Multirobot Systems Subject to Control Gain Uncertainty

This article addresses the problem of cooperative control of double-integrator type multirobot systems. Different from some conventional results with the control gain explicitly known, the control gain in this article is subject to uncertainty. Three different collective behaviors are explored, i.e....

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Vydáno v:IEEE transactions on industrial informatics Ročník 19; číslo 4; s. 5367 - 5376
Hlavní autoři: Ning, Boda, Han, Qing-Long, Lu, Qiang, Sanjayan, Jay
Médium: Journal Article
Jazyk:angličtina
Vydáno: Piscataway IEEE 01.04.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Consensus
control gain uncertainty
Control systems
Control systems design
Controllers
Cooperative control
Double integrators
double-integrator
formation control
Informatics
Multi-robot systems
Multiple robots
Robot control
Robots
Sliding mode control
sliding-mode
Trajectory
Uncertainty
Vehicle dynamics
ISSN:1551-3203, 1941-0050
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Shrnutí:This article addresses the problem of cooperative control of double-integrator type multirobot systems. Different from some conventional results with the control gain explicitly known, the control gain in this article is subject to uncertainty. Three different collective behaviors are explored, i.e., leaderless consensus, leader-following consensus, and formation control. For leaderless consensus, a sliding variable is constructed, based on which a novel continuous controller is designed such that the sliding surface is reached in finite-time and thus the state agreement of all agents is realized. For leader-following consensus, two different cases are investigated, i.e., the leader with constant velocity and with time-varying velocity. In both cases, sliding-mode based controllers are developed and corresponding stability conditions are established to ensure that the leader state is tracked by all followers. Finally, the theoretical results are applied to achieve formation control of nonholonomic mobile robots and corresponding experimental studies are conducted to demonstrate the effectiveness of the proposed controllers.
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ISSN:1551-3203
1941-0050
DOI:10.1109/TII.2022.3173950