Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks
文献类型：期刊论文
| 作者 | Liu, Zhixin1 ; Wang, Lin2; Wang, Jinhuan3; Dong, Daoyi4; Hu, Xiaoming5
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| 刊名 | AUTOMATICA
 |
| 出版日期 | 2017-03-01 |
| 卷号 | 77页码:170-179 |
| 关键词 | Distributed control Unicycle Synchronization Sampled-data Hybrid system Leader-follower model |
| ISSN号 | 0005-1098 |
| DOI | 10.1016/j.automatica.2016.11.027 |
| 英文摘要 | This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be caused by abrupt changes of positions when updating information from neighbors. Distributed sampled-data control laws are designed based on nearest neighbor rules, which in conjunction with continuous-time dynamics results in hybrid closed-loop systems. For uniform and independent initial states, a sufficient condition is provided to guarantee synchronization for the system without leaders. In order to steer all robots to move with the desired orientation and speed, we then introduce a number of leaders into the system, and quantitatively establish the proportion of leaders needed to track either constant or time-varying signals. All these conditions depend only on the neighborhood radius, the maximum initial moving speed and the dwell time, without assuming a prior properties of the neighbor graphs as are used in most of the existing literature. (C) 2016 Elsevier Ltd. All rights reserved. |
| 资助项目 | National Natural Science Foundation of China[61273221] ; National Natural Science Foundation of China[61473189] ; National Key Basic Research Program of China (973 program)[2014CB845302] ; Australian Research Council's Discovery Projects funding scheme[DP130101658] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000395354700017 |
| 出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/24924]  |
| 专题 | 系统科学研究所 |
| 通讯作者 | Liu, Zhixin |
| 作者单位 | 1.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China 2.Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China 3.Hebei Univ Technol, Sch Sci, Tianjin 300401, Peoples R China 4.Univ New South Wales, Sch Engn & Informat Technol, Canberra, ACT 2600, Australia 5.KTH Royal Inst Technol, Optimizat & Syst Theory, S-10044 Stockholm, Sweden |
| 推荐引用方式 GB/T 7714 | Liu, Zhixin,Wang, Lin,Wang, Jinhuan,et al. Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks[J]. AUTOMATICA,2017,77:170-179. |
| APA | Liu, Zhixin,Wang, Lin,Wang, Jinhuan,Dong, Daoyi,&Hu, Xiaoming.(2017).Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks.AUTOMATICA,77,170-179. |
| MLA | Liu, Zhixin,et al."Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks".AUTOMATICA 77(2017):170-179. |
入库方式： OAI收割
来源：数学与系统科学研究院
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