Consensus in networked multi-robot systems via local state feedback robust control. (10th December 2019)

• Record Type: Journal Article
• Authors: Zhang, Shijie; Cao, Yi
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 6(2019:Nov./Dec.)
• Publication Date: 2019-12-10
• Subjects: Consensus -- multi-robot -- state feedback -- non-holonomic -- nonlinear; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419893549
• Languages: English
• ISSNs: 1729-8806

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.