Back to Search Start Over

Distributed region reaching consensus control for uncertain networked multi‐robot systems.

Authors :
Zhu, Qi
Yang, Weihua
Zhang, Xiaohong
Gao, Ben
Yu, Jinwei
Source :
ZAMM -- Journal of Applied Mathematics & Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik; Mar2024, Vol. 104 Issue 3, p1-11, 11p
Publication Year :
2024

Abstract

The main objective of this paper is to advance the concept of region reaching control for a single robot to the study of region reaching consistency for uncertain fully‐actuated multi‐robot systems formulated by Lagrange dynamics. By introducing a directed network communication topology and utilizing the pinning‐like control methods, a distributed region reaching consensus control strategy is proposed. The desired region shape can be specified by selecting an appropriate potential objective function. A feature of the developed region reaching consensus algorithm is fully distributed, which is also an important generalization of pinning‐like set point tracking scheme based on the typical proportion‐integration‐differentiation control scheme. More importantly, the scope of consistency in this paper can be explicitly defined, which is different from traditional consistency control algorithms. Subsequently, numerical examples are presented to illustrate the performance of the designed controllers. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
00442267
Volume :
104
Issue :
3
Database :
Complementary Index
Journal :
ZAMM -- Journal of Applied Mathematics & Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik
Publication Type :
Academic Journal
Accession number :
175945632
Full Text :
https://doi.org/10.1002/zamm.202300591