DocumentCode
2251365
Title
Consensus of multiple nonholonomic systems
Author
Dong, Wenjie ; Farrell, Jay A.
Author_Institution
Dept. of Electr. Eng., Univ. of California, Riverside, CA, USA
fYear
2008
fDate
9-11 Dec. 2008
Firstpage
2270
Lastpage
2275
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location
Cancun
ISSN
0191-2216
Print_ISBN
978-1-4244-3123-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2008.4739232
Filename
4739232
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