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- Title
Consensus in networked multi-robot systems via local state feedback robust control.
- Authors
Shijie Zhang; Yi Cao
- Abstract
In the article, the consensus problem is considered for networked multi-robot systems, in which the dynamical equation of all robots is non-holonomic and nonlinear systems. In the multi-robot systems, each robot updates its current states and receives the states from the neighboring robots. Under the assumption that if the network graph is bidirectional, a local information-based state feedback robust controller is designed to make sure the convergence of the individual robots' states to a common value. Finally, the effectiveness of the presented method is illustrated by the simulation results of a group of four mobile robots.
- Subjects
STATE feedback (Feedback control systems); ROBOTS; NONHOLONOMIC dynamical systems; MOBILE robots; FEEDBACK control systems; NONLINEAR systems
- Publication
International Journal of Advanced Robotic Systems, 2019, Vol 16, Issue 6, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.1177/1729881419893549