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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Vydáno v:	Automatica (Oxford) Ročník 50; číslo 4; s. 1254 - 1263
Hlavní autoři:	Wang, Wei, Huang, Jiangshuai, Wen, Changyun, Fan, Huijin
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Kidlington Elsevier Ltd 01.04.2014 Elsevier
Témata:	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
On-line přístup:	Získat plný text
Tagy:	Přidat tag Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!

Abstract	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.
AbstractList	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.
Author	Wen, Changyun Wang, Wei Fan, Huijin Huang, Jiangshuai
Author_xml	– sequence: 1 givenname: Wei surname: Wang fullname: Wang, Wei email: wwang28@tsinghua.edu.cn organization: Department of Automation, Tsinghua University, Beijing 100084, China – sequence: 2 givenname: Jiangshuai surname: Huang fullname: Huang, Jiangshuai email: jhuang2@e.ntu.edu.sg organization: School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798, Singapore – sequence: 3 givenname: Changyun surname: Wen fullname: Wen, Changyun email: ecywen@ntu.edu.sg organization: School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798, Singapore – sequence: 4 givenname: Huijin surname: Fan fullname: Fan, Huijin email: ehjfan@mail.hust.edu.cn organization: Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
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Keywords	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
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Snippet	In this paper, we investigate the output consensus problem of tracking a desired trajectory for a class of systems consisting of multiple nonlinear subsystems...
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SubjectTerms	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
Title	Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots
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