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

fYear

2014

fDate

4-6 June 2014

Firstpage

4014

Lastpage

4019

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2014

Conference_Location

Portland, OR

ISSN

0743-1619

Print_ISBN

978-1-4799-3272-6

Type

conf

DOI

10.1109/ACC.2014.6858886

Filename

6858886