Udwadia-Kalaba approach based distributed consensus control for multi-mobile robot systems with communication delays

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

Udwadia-Kalaba approach based distributed consensus control for multi-mobile robot systems with communication delays

Wang, C Ji, J

Miao, Z Zhou, J

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Publisher:: PERGAMON-ELSEVIER SCIENCE LTD
Publication Type:: Journal Article
Citation:: Journal of the Franklin Institute, 2022, 359, (14), pp. 7283-7306
Issue Date:: 2022-09-01

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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	2023-03-09T03:11:11Z
dc.date.available	2023-03-09T03:11:11Z
dc.date.issued	2022-09-01
dc.identifier.citation	Journal of the Franklin Institute, 2022, 359, (14), pp. 7283-7306
dc.identifier.issn	0016-0032
dc.identifier.issn	1879-2693
dc.identifier.uri	http://hdl.handle.net/10453/166765
dc.description.abstract	In this paper, a distributed consensus algorithm for multi-mobile robot systems (MMRSs) with communication delays is proposed based on the Udwadia-Kalaba (UK) approach. The key feature of the proposed algorithm is that the consensus requirement is configured as a second-order constraint, and then a concise and explicit equation of motion for the constrained mechanical systems is formulated. Furthermore, the necessary and sufficient conditions for achieving the consensus of MMRSs with or without communication delays are developed under the network topology possessing a directed spanning tree. Finally, some numerical simulations are performed to verify the validity of the proposed consensus algorithm.
dc.language	English
dc.publisher	PERGAMON-ELSEVIER SCIENCE LTD
dc.relation.ispartof	Journal of the Franklin Institute
dc.relation.isbasedon	10.1016/j.jfranklin.2022.07.046
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0102 Applied Mathematics, 0906 Electrical and Electronic Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Udwadia-Kalaba approach based distributed consensus control for multi-mobile robot systems with communication delays
dc.type	Journal Article
utslib.citation.volume	359
utslib.for	0102 Applied Mathematics
utslib.for	0906 Electrical and Electronic 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	2023-03-09T03:10:49Z
pubs.issue	14
pubs.publication-status	Published
pubs.volume	359
utslib.citation.issue	14

Abstract:

In this paper, a distributed consensus algorithm for multi-mobile robot systems (MMRSs) with communication delays is proposed based on the Udwadia-Kalaba (UK) approach. The key feature of the proposed algorithm is that the consensus requirement is configured as a second-order constraint, and then a concise and explicit equation of motion for the constrained mechanical systems is formulated. Furthermore, the necessary and sufficient conditions for achieving the consensus of MMRSs with or without communication delays are developed under the network topology possessing a directed spanning tree. Finally, some numerical simulations are performed to verify the validity of the proposed consensus algorithm.

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