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Distributed cooperative control for nonholonomic wheeled mobile robot systems
International Journal of Systems Science ( IF 4.9 ) Pub Date : 2020-05-20 , DOI: 10.1080/00207721.2020.1765048
Belkacem Kada 1 , Ahmed S. A. Balamesh 2 , Khalid A. Juhany 1 , Ibraheem M. Al-Qadi 1
Affiliation  

The purpose of this paper is two-fold. First, the smoothness of the distributed consensus control (DCC) protocols of multi-agent systems (MAS) with inherent nonlinear dynamics is investigated. Different from the traditional consensus protocols where variable structure control is considered for robust control, a continuous DCC is presented to achieve consensus tracking without control chattering. Using certain types of exponential functions, it is shown that different smooth DCC schemes can be constructed to achieve asymptotic consensus tracking with smooth control input for MAS with connected directed/undirected and fixed/switched communication topologies. Second, the formation control problem of nonholonomic wheeled mobile robots (WMR) is solved via the continuous DCC. By converting the formation problem into consensus problem using the agents’ kinematics, the formation speed-control problem in planar motion is formulated and solved. The translational and rotational speeds inputs to the WMR are computed using continuous distributed consensus protocols to reduce chattering in the control inputs of mobile robots. The distinctive feature of the proposed consensus and formation algorithms is the high tracking precision with smooth control input to agents’ dynamics. In simulation studies, different numerical examples are illustrated to demonstrate the performance and effectiveness of the proposed DCC.

中文翻译:

非完整轮式移动机器人系统的分布式协同控制

本文的目的是双重的。首先,研究了具有固有非线性动力学的多代理系统 (MAS) 的分布式共识控制 (DCC) 协议的平滑性。与传统的共识协议中考虑可变结构控制以实现鲁棒控制不同,提出了一个连续的 DCC 来实现没有控制颤动的共识跟踪。使用某些类型的指数函数,表明可以构建不同的平滑 DCC 方案,以实现具有平滑控制输入的渐近一致性跟踪,用于连接有向/无向和固定/交换通信拓扑的 MAS。其次,通过连续 DCC 解决了非完整轮式移动机器人 (WMR) 的编队控制问题。通过使用代理的运动学将编队问题转换为共识问题,制定并解决了平面运动中的编队速度控制问题。WMR 的平移和旋转速度输入是使用连续分布式共识协议计算的,以减少移动机器人控制输入中的抖动。所提出的共识和形成算法的显着特点是跟踪精度高,对代理的动态控制输入平滑。在模拟研究中,说明了不同的数值例子来证明所提出的 DCC 的性能和有效性。WMR 的平移和旋转速度输入是使用连续分布式共识协议计算的,以减少移动机器人控制输入中的抖动。所提出的共识和形成算法的显着特点是跟踪精度高,对代理的动态控制输入平滑。在模拟研究中,说明了不同的数值例子来证明所提出的 DCC 的性能和有效性。WMR 的平移和旋转速度输入是使用连续分布式共识协议计算的,以减少移动机器人控制输入中的抖动。所提出的共识和形成算法的显着特点是跟踪精度高,对代理的动态控制输入平滑。在模拟研究中,说明了不同的数值例子来证明所提出的 DCC 的性能和有效性。
更新日期:2020-05-20
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