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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Bibliographic Details
Published in:	Automatica (Oxford) Vol. 50; no. 4; pp. 1254 - 1263
Main Authors:	Wang, Wei, Huang, Jiangshuai, Wen, Changyun, Fan, Huijin
Format:	Journal Article
Language:	English
Published:	Kidlington Elsevier Ltd 01.04.2014 Elsevier
Subjects:	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
Online Access:	Get full text
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