Synchronization control for networked mobile robot systems based on Udwadia–Kalaba approach

Wang, C; Ji, J; Miao, Z; Zhou, J

Synchronization control for networked mobile robot systems based on Udwadia–Kalaba approach

Wang, C Ji, J

Miao, Z Zhou, J

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Publisher:: SPRINGER
Publication Type:: Journal Article
Citation:: Nonlinear Dynamics, 2021, 105, (1), pp. 315-330
Issue Date:: 2021-07-01

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Field	Value	Language
dc.contributor.author	Wang, C
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	2022-05-31T06:19:11Z
dc.date.available	2022-05-31T06:19:11Z
dc.date.issued	2021-07-01
dc.identifier.citation	Nonlinear Dynamics, 2021, 105, (1), pp. 315-330
dc.identifier.issn	0924-090X
dc.identifier.issn	1573-269X
dc.identifier.uri	http://hdl.handle.net/10453/157843
dc.description.abstract	This paper addresses the problem of synchronization control for networked multi-mobile robot systems from the perspective of analytical mechanics. By reformulating the task requirement as a constrained motion problem, a unified synchronization algorithm for networked multi-mobile robot systems with or without leaders is proposed in combination with algebraic graph theory and the Udwadia–Kalaba approach. With the proposed algorithm, the networked mobile robot system can achieve synchronization from arbitrary initial conditions for the leaderless case and realize accurate trajectory tracking with explicitly given reference trajectories for the leader-following case. Numerical simulations of a networked wheeled mobile robot system are performed under different network structures and various trajectory requirements to show the performance of the proposed control algorithm.
dc.language	English
dc.publisher	SPRINGER
dc.relation.ispartof	Nonlinear Dynamics
dc.relation.isbasedon	10.1007/s11071-021-06487-z
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	01 Mathematical Sciences, 09 Engineering
dc.subject.classification	Acoustics
dc.title	Synchronization control for networked mobile robot systems based on Udwadia–Kalaba approach
dc.type	Journal Article
utslib.citation.volume	105
utslib.for	01 Mathematical Sciences
utslib.for	09 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	*
pubs.consider-herdc	false
dc.date.updated	2022-05-31T06:19:10Z
pubs.issue	1
pubs.publication-status	Published
pubs.volume	105
utslib.citation.issue	1

Abstract:

This paper addresses the problem of synchronization control for networked multi-mobile robot systems from the perspective of analytical mechanics. By reformulating the task requirement as a constrained motion problem, a unified synchronization algorithm for networked multi-mobile robot systems with or without leaders is proposed in combination with algebraic graph theory and the Udwadia–Kalaba approach. With the proposed algorithm, the networked mobile robot system can achieve synchronization from arbitrary initial conditions for the leaderless case and realize accurate trajectory tracking with explicitly given reference trajectories for the leader-following case. Numerical simulations of a networked wheeled mobile robot system are performed under different network structures and various trajectory requirements to show the performance of the proposed control algorithm.

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http://hdl.handle.net/10453/157843