Title :
Distributed exponentially tracking control of multiple wheeled mobile robots
Author :
Chunyu Chen ; De la Torre, Fernando ; Wenjie Dong
Author_Institution :
Dept. of Electr. Eng., Univ. of Texas-Pan American, Edinburg, TX, USA
Abstract :
In this paper a consensus problem is considered for leader-following of multiple wheeled mobile robots. Laplacian matrix is introduced to characterize the communication topology. Since there are parameter uncertainties for each mechanical system, adaptive control method is applied for controller design of the dynamical systems. Distributed adaptive state feedback control laws are presented with the aid of the agent´s neighboring information. Simulation results are presented to validate the proposed control laws.
Keywords :
adaptive control; control system synthesis; mobile robots; state feedback; tracking; Laplacian matrix; adaptive control method; agent neighboring information; communication topology; consensus problem; controller design; distributed adaptive state feedback control laws; distributed exponentially tracking control; dynamical systems; leader following; mechanical system; multiple wheeled mobile robots; Convergence; Heuristic algorithms; Mobile robots; Multi-agent systems; Robot kinematics; Trajectory; Control of communication networks; Mechanical systems/robotics; Multivehicle systems;
Conference_Titel :
American Control Conference (ACC), 2014
Conference_Location :
Portland, OR
Print_ISBN :
978-1-4799-3272-6
DOI :
10.1109/ACC.2014.6858886
