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

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...

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Veröffentlicht in:Automatica (Oxford) Jg. 50; H. 4; S. 1254 - 1263
Hauptverfasser: Wang, Wei, Huang, Jiangshuai, Wen, Changyun, Fan, Huijin
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Kidlington Elsevier Ltd 01.04.2014
Elsevier
Schlagworte:
Adaptative systems
Adaptive control
Applied sciences
Computer science; control theory; systems
Computer systems and distributed systems. User interface
Consensus tracking
Control theory. Systems
Distributed coordination
Dynamical systems
Estimates
Exact sciences and technology
Mathematical models
Modelling and identification
Nonholonomic mobile robots
Nonlinear dynamics
Nonlinear systems
Robotics
Robots
Software
Tracking
Trajectories
Nonholonomic mobile robots
Consensus tracking
Distributed coordination
Adaptive control
Nonlinear systems
Leadership
Moving robot
Position control
Robotics
Swarm intelligence
System identification
Information exchange
Target tracking
Coordination
Non holonomic system
Tracking task
Output signal
Synchronization
Non linear system
Recursive algorithm
Consensus
Reference model
Multiagent system
Distributed control
Asymptotic approximation
Motion control
Formation
Output feedback
Directed graph
Lyapunov function
ISSN:0005-1098, 1873-2836
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Beschreibung
Zusammenfassung: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.
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ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2014.02.028