Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot-Reference-Cited by-同舟云学术

Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot

Published:2021-09-29 Issue: Volume:2021 Page:1-9
ISSN:1939-0122
Container-title:Security and Communication Networks
language:en
Short-container-title:Security and Communication Networks

Author:

Meng Xianyang¹²^ORCID,He Ping¹²^ORCID,Xiong Xingzhong¹²^ORCID,Mi Haoyang³^ORCID,Li Zuxin⁴^ORCID,Wu Zhigang⁵^ORCID

Affiliation:

1. School of Automation and Information Engineering, Sichuan University of Science & Engineering, Zigong 643000, China

2. Artificial Intelligence Key Laboratory of Sichuan Province, Sichuan University of Science & Engineering, Zigong 643000, China

3. National Engineering Research Center for Advanced Polymer Processing Technology, Zhengzhou University, Zhengzhou 450000, China

4. School of Science and Engineering, Huzhou College, Huzhou 313000, China

5. School of Energy and Mechanical Engineering, Jiangxi University of Science and Technology, Nanchang 330013, China

Abstract

This paper focuses on consensus of the nonholonomic wheeled mobile robotic systems whose geometric center and centroid do not coincide. A consensus control algorithm for mobile robots based on the nonstandard chain systems is proposed. Firstly, coordinate transformation is used to transform the nonholonomic robotic systems into the nonstandard chain model. Then, a distributed cooperative control algorithm is designed, and the Lyapunov stability theorem and LaSalle invariance principle are used to prove that each state of the mobile robot is consensus. Finally, the effectiveness of the algorithm is proved through numerical simulation.

Funder

National Natural Science Foundation of China

Publisher

Hindawi Limited

Subject

Computer Networks and Communications,Information Systems

Link

http://downloads.hindawi.com/journals/scn/2021/7617819.pdf

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