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Synchronization control for networked mobile robot systems based on Udwadia–Kalaba approach

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Abstract

This paper addresses the problem of synchronization control for networked multi-mobile robot systems from the perspective of analytical mechanics. By reformulating the task requirement as a constrained motion problem, a unified synchronization algorithm for networked multi-mobile robot systems with or without leaders is proposed in combination with algebraic graph theory and the Udwadia–Kalaba approach. With the proposed algorithm, the networked mobile robot system can achieve synchronization from arbitrary initial conditions for the leaderless case and realize accurate trajectory tracking with explicitly given reference trajectories for the leader-following case. Numerical simulations of a networked wheeled mobile robot system are performed under different network structures and various trajectory requirements to show the performance of the proposed control algorithm.

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Acknowledgements

The authors express gratitude to the anonymous referee for his/her helpful suggestions and the partial supports of the National Natural Science Foundations of China (Grant Nos 12072180 and 51875331).

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Authors and Affiliations

  1. Shanghai Institute of Applied Mathematics and Mechanics and Shanghai Key Laboratory of Mechanics in Energy Engineering, School of Mechanics and Engineering Science, Shanghai University, Shanghai, 200072, China

    Conghua Wang & Jin Zhou

  2. Faculty of Engineering and IT, University of Technology Sydney, Sydney, NSW, 2007, Australia

    Jinchen Ji

  3. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200072, China

    Zhonghua Miao

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  1. Conghua Wang
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  2. Jinchen Ji
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  3. Zhonghua Miao
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  4. Jin Zhou
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Correspondence to Jin Zhou.

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The original online version of this article was revised: 1. The e-mail of J. Zhou should be jzhou@shu.edu.cn and the e-mail of J. Ji should be jin.ji@uts.edu.au.2. In Fig. 2, Fig. 19 and Fig. 24, the the positions of the numbers have shifted.3. In the second paragraph of Section 4.4, Eq. (21) should be Eq. (38) and equations (21), (21e) should be Eqs. (19), (38).

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Wang, C., Ji, J., Miao, Z. et al. Synchronization control for networked mobile robot systems based on Udwadia–Kalaba approach. Nonlinear Dyn 105, 315–330 (2021). https://doi.org/10.1007/s11071-021-06487-z

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  • DOI: https://doi.org/10.1007/s11071-021-06487-z

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