Title :
Consensus of multiple nonholonomic systems
Author :
Dong, Wenjie ; Farrell, Jay A.
Author_Institution :
Dept. of Electr. Eng., Univ. of California, Riverside, CA, USA
Abstract :
This paper considers the consensus of multiple nonholonomic systems such that a group of systems converges to a desired trajectory. Cooperative control laws are proposed and analyzed with the aid of results from graph theory and Lyapunov analysis. The proposed control laws are decentralized. Robustness of the proposed control laws to communication delays is also considered. As an application of the proposed results, formation control of wheeled mobile robots is discussed. Simulation results show effectiveness of the proposed results.
Keywords :
Lyapunov methods; graph theory; mobile robots; multi-robot systems; Lyapunov analysis; communication delays; cooperative control laws; formation control; graph theory; multiple nonholonomic systems; wheeled mobile robots; Communication switching; Communication system control; Control systems; Delay; Graph theory; Mobile communication; Mobile robots; Network topology; Robust control; Stability;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739232
