Practical consensus tracking control of multiple nonholonomic wheeled mobile robots in polar coordinates

Liu, L; Guo, R; Ji, J; Miao, Z; Zhou, J

Practical consensus tracking control of multiple nonholonomic wheeled mobile robots in polar coordinates

Liu, L Guo, R Ji, J

Miao, Z Zhou, J

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Publication Type:: Journal Article
Citation:: International Journal of Robust and Nonlinear Control, 2020, 30, (10), pp. 3831-3847
Issue Date:: 2020-07-10

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Field	Value	Language
dc.contributor.author	Liu, L
dc.contributor.author	Guo, R
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463
dc.contributor.author	Miao, Z
dc.contributor.author	Zhou, J
dc.date.accessioned	2021-03-28T19:44:19Z
dc.date.available	2021-03-28T19:44:19Z
dc.date.issued	2020-07-10
dc.identifier.citation	International Journal of Robust and Nonlinear Control, 2020, 30, (10), pp. 3831-3847
dc.identifier.issn	1049-8923
dc.identifier.issn	1099-1239
dc.identifier.uri	http://hdl.handle.net/10453/147573
dc.description.abstract	This paper proposes a sliding-mode control (SMC) method to achieve practical cooperative consensus tracking for a network of multiple nonholonomic wheeled mobile robots (MNWMRs) with input disturbances. A novel SMC surface under the nonholonomic constraints is first formulated to characterize the network communication interactions among the networked robots under the framework of polar coordinates. A unified distributed consensus tracking strategy is then proposed by systematically combining a position controller and a direction controller. Furthermore, a simple yet general criterion is derived to achieve the desired practical consensus of trajectory tracking and posture stabilization for MNWMRs. In particular, for a specific common consensus trajectory, the complete asymptotic tracking in heading direction can be fully guaranteed when the perfect asymptotic position-tracking errors are realized. Accordingly, the developed consensus tracking strategy for MNWMRs demonstrates some advantages of control performance including stability, robustness, and effectiveness over the existing control method proposed for their single-robot counterparts. Some comparative simulation results are given to confirm the effectiveness of the proposed cooperative consensus control method.
dc.language	en
dc.relation.ispartof	International Journal of Robust and Nonlinear Control
dc.relation.isbasedon	10.1002/rnc.4967
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0102 Applied Mathematics, 0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Practical consensus tracking control of multiple nonholonomic wheeled mobile robots in polar coordinates
dc.type	Journal Article
utslib.citation.volume	30
utslib.for	0913 Mechanical Engineering
utslib.for	0102 Applied Mathematics
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2021-03-28T19:44:16Z
pubs.issue	10
pubs.publication-status	Published
pubs.volume	30
utslib.citation.issue	10

Abstract:

This paper proposes a sliding-mode control (SMC) method to achieve practical cooperative consensus tracking for a network of multiple nonholonomic wheeled mobile robots (MNWMRs) with input disturbances. A novel SMC surface under the nonholonomic constraints is first formulated to characterize the network communication interactions among the networked robots under the framework of polar coordinates. A unified distributed consensus tracking strategy is then proposed by systematically combining a position controller and a direction controller. Furthermore, a simple yet general criterion is derived to achieve the desired practical consensus of trajectory tracking and posture stabilization for MNWMRs. In particular, for a specific common consensus trajectory, the complete asymptotic tracking in heading direction can be fully guaranteed when the perfect asymptotic position-tracking errors are realized. Accordingly, the developed consensus tracking strategy for MNWMRs demonstrates some advantages of control performance including stability, robustness, and effectiveness over the existing control method proposed for their single-robot counterparts. Some comparative simulation results are given to confirm the effectiveness of the proposed cooperative consensus control method.

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http://hdl.handle.net/10453/147573