Decentralized cooperative control of multiple nonholonomic systems

Author

Dong, Wenjie ; Farrell, Jay A.

Author_Institution

California Univ., Riverside

fYear

2007

fDate

12-14 Dec. 2007

Firstpage

1486

Lastpage

1491

Abstract

This paper considers the cooperative control of multiple nonholonomic systems. Time-varying cooperative control laws are proposed with the aid of the results of the graph theory. The proposed control laws are decentralized and make the states of the group of systems converge to a moving point. By suitable control variables, the proposed control laws can make the state of each system converge to a small neighborhood of the origin. 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. The simulation results show effectiveness of the proposed results.

Keywords

delays; directed graphs; mobile robots; multi-robot systems; robust control; time-varying systems; communication delay; communication digraph; decentralized cooperative control; graph theory; multiple nonholonomic system; robust control; time-varying cooperative control law; wheeled mobile robot formation control; Communication system control; Control systems; Graph theory; Linear systems; Mobile communication; Mobile robots; Stability; Switches; Trajectory; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2007 46th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

978-1-4244-1497-0

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2007.4434028

Filename

4434028