Distributed Stochastic Consensus of Networked Nonholonomic Mobile Robots and Its Formation Application

Liu, L; Ji, J; Li, B; Miao, Z; Zhou, J

Distributed Stochastic Consensus of Networked Nonholonomic Mobile Robots and Its Formation Application

Liu, L Ji, J

Li, B Miao, Z Zhou, J

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Publisher:: ASME
Publication Type:: Journal Article
Citation:: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 2022, 144, (11)
Issue Date:: 2022-11-01

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Field	Value	Language
dc.contributor.author	Liu, L
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463
dc.contributor.author	Li, B
dc.contributor.author	Miao, Z
dc.contributor.author	Zhou, J
dc.date.accessioned	2023-03-09T05:06:37Z
dc.date.available	2023-03-09T05:06:37Z
dc.date.issued	2022-11-01
dc.identifier.citation	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 2022, 144, (11)
dc.identifier.issn	0022-0434
dc.identifier.issn	1528-9028
dc.identifier.uri	http://hdl.handle.net/10453/166806
dc.description.abstract	This paper proposes a novel distributed stochastic consensus seeking algorithm for networked nonholonomic wheeled mobile robots (NNWMRs) and its application to consensus-based formation. Time-varying delays and noisy measurement are incorporated into the dynamic model to represent two key issues inherently appearing in the communication and information exchange process among robots. Based on backstepping technique and sliding mode approach, the proposed consensus algorithm integrates kinematic controller and dynamic torque controller into the control protocol. A key feature of the proposed consensus algorithm is the introduction of the consensus gains, which characterizes the effects of time delays and noisy measurement. A unified methodology is provided for the convergence analysis of the networked system by using the generalized stochastic delayed Halanay inequality. It is shown that time delays and noisy measurement can play crucial roles in distributed consensus seeking in collaborative multirobot systems. Illustrative examples and simulations are provided to demonstrate and validate the theoretical results.
dc.language	English
dc.publisher	ASME
dc.relation.ispartof	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
dc.relation.isbasedon	10.1115/1.4055163
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	09 Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Distributed Stochastic Consensus of Networked Nonholonomic Mobile Robots and Its Formation Application
dc.type	Journal Article
utslib.citation.volume	144
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	*
dc.date.updated	2023-03-09T05:06:36Z
pubs.issue	11
pubs.publication-status	Published
pubs.volume	144
utslib.citation.issue	11

Abstract:

This paper proposes a novel distributed stochastic consensus seeking algorithm for networked nonholonomic wheeled mobile robots (NNWMRs) and its application to consensus-based formation. Time-varying delays and noisy measurement are incorporated into the dynamic model to represent two key issues inherently appearing in the communication and information exchange process among robots. Based on backstepping technique and sliding mode approach, the proposed consensus algorithm integrates kinematic controller and dynamic torque controller into the control protocol. A key feature of the proposed consensus algorithm is the introduction of the consensus gains, which characterizes the effects of time delays and noisy measurement. A unified methodology is provided for the convergence analysis of the networked system by using the generalized stochastic delayed Halanay inequality. It is shown that time delays and noisy measurement can play crucial roles in distributed consensus seeking in collaborative multirobot systems. Illustrative examples and simulations are provided to demonstrate and validate the theoretical results.

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http://hdl.handle.net/10453/166806