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Practical Distributed Cooperative Control of Multiple Nonholonomic Unicycle Robots

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Proceedings of 2018 Chinese Intelligent Systems Conference

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 529))

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Abstract

In this work, we study the distributed cooperative control problem of multiple nonholonomic unicycle robots with a time-varying reference trajectory. Under the mild assumptions that the communication topology is bidirectional connected, the reference trajectory is bounded and known for at least one robot and the velocity of the reference trajectory is bounded but unknown for all robots, a novel distributed cooperative control protocol is proposed guaranteeing that all the robots follow the reference trajectory with an arbitrarily small ultimate tracking errors. Simulation examples are given to verify the proposed distributed cooperative scheme.

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Acknowledgements

This work was supported by National Nature Science Foundation of China (No. 61573034, No. 61327807), and Fundamental and Frontier Research Project of Chongqing (No. cstc2016jcyjA0404).

Author information

Authors and Affiliations

  1. The Seventh Research Division, School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China

    Baoli Ma

  2. School of Computer and Information Science, Southwest University, Chongqing, 400715, China

    Wenjing Xie

Authors
  1. Baoli Ma
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  2. Wenjing Xie
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Corresponding author

Correspondence to Baoli Ma .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

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Ma, B., Xie, W. (2019). Practical Distributed Cooperative Control of Multiple Nonholonomic Unicycle Robots. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 529. Springer, Singapore. https://doi.org/10.1007/978-981-13-2291-4_55

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