Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots
In this paper, we investigate the output consensus problem of tracking a desired trajectory for a class of systems consisting of multiple nonlinear subsystems with intrinsic mismatched unknown parameters. The subsystems are allowed to have non-identical dynamics, whereas with similar structures and...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2014
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| Online Access: | https://hdl.handle.net/10356/101969 http://hdl.handle.net/10220/19833 |
| _version_ | 1826109635113779200 |
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| author | Wang, Wei Huang, Jiangshuai Wen, Changyun Fan, Huijin |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Wang, Wei Huang, Jiangshuai Wen, Changyun Fan, Huijin |
| author_sort | Wang, Wei |
| collection | NTU |
| description | In this paper, we investigate the output consensus problem of tracking a desired trajectory for a class of systems consisting of multiple nonlinear subsystems with intrinsic mismatched unknown parameters. The subsystems are allowed to have non-identical dynamics, whereas with similar structures and the same yet arbitrary system order. And the communication status among the subsystems can be represented by a directed graph. Different from the traditional centralized tracking control problem, only a subset of the subsystems can obtain the desired trajectory information directly. A distributed adaptive control approach based on backstepping technique is proposed. By introducing the estimates to account for the parametric uncertainties of the desired trajectory and its neighbors' dynamics into the local controller of each subsystem, information exchanges of online parameter estimates and local synchronization errors among linked subsystems can be avoided. It is proved that the boundedness of all closed-loop signals and the asymptotically consensus tracking for all the subsystems' outputs are ensured. A numerical example is illustrated to show the effectiveness of the proposed control scheme. Moreover, the design strategy is successfully applied to solve a formation control problem for multiple nonholonomic mobile robots. |
| first_indexed | 2024-10-01T02:21:09Z |
| format | Journal Article |
| id | ntu-10356/101969 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:21:09Z |
| publishDate | 2014 |
| record_format | dspace |
| spelling | ntu-10356/1019692020-03-07T14:00:35Z Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots Wang, Wei Huang, Jiangshuai Wen, Changyun Fan, Huijin School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering In this paper, we investigate the output consensus problem of tracking a desired trajectory for a class of systems consisting of multiple nonlinear subsystems with intrinsic mismatched unknown parameters. The subsystems are allowed to have non-identical dynamics, whereas with similar structures and the same yet arbitrary system order. And the communication status among the subsystems can be represented by a directed graph. Different from the traditional centralized tracking control problem, only a subset of the subsystems can obtain the desired trajectory information directly. A distributed adaptive control approach based on backstepping technique is proposed. By introducing the estimates to account for the parametric uncertainties of the desired trajectory and its neighbors' dynamics into the local controller of each subsystem, information exchanges of online parameter estimates and local synchronization errors among linked subsystems can be avoided. It is proved that the boundedness of all closed-loop signals and the asymptotically consensus tracking for all the subsystems' outputs are ensured. A numerical example is illustrated to show the effectiveness of the proposed control scheme. Moreover, the design strategy is successfully applied to solve a formation control problem for multiple nonholonomic mobile robots. Accepted version 2014-06-19T05:05:20Z 2019-12-06T20:47:37Z 2014-06-19T05:05:20Z 2019-12-06T20:47:37Z 2014 2014 Journal Article Wang, W., Huang, J., Wen, C., & Fan, H. (2014). Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots. Automatica, 50(4), 1254-1263. 0005-1098 https://hdl.handle.net/10356/101969 http://hdl.handle.net/10220/19833 10.1016/j.automatica.2014.02.028 en Automatica © 2014 Elsevier Ltd. This is the author created version of a work that has been peer reviewed and accepted for publication by Automatica, Elsevier Ltd. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [DOI: http://dx.doi.org/10.1016/j.automatica.2014.02.028]. 13 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering Wang, Wei Huang, Jiangshuai Wen, Changyun Fan, Huijin Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots |
| title | Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots |
| title_full | Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots |
| title_fullStr | Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots |
| title_full_unstemmed | Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots |
| title_short | Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots |
| title_sort | distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots |
| topic | DRNTU::Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/101969 http://hdl.handle.net/10220/19833 |
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