Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot. (29th September 2021)

• Record Type: Journal Article
• Authors: Meng, Xianyang; He, Ping; Xiong, Xingzhong; Mi, Haoyang; Li, Zuxin; Wu, Zhigang
• Other Names: Chen Chi-Hua Academic Editor.
• Is Part Of: Security and communication networks. Volume 2021(2021)
• Publication Date: 2021-09-29
• Subjects: Computer networks -- Security measures -- Periodicals; Computer security -- Periodicals; Cryptography -- Periodicals; 005.805
• DOI: 10.1155/2021/7617819
• Languages: English
• ISSNs: 1939-0114

Abstract

Abstract : This paper focuses on consensus of the nonholonomic wheeled mobile robotic systems whose geometric center and centroid do not coincide. A consensus control algorithm for mobile robots based on the nonstandard chain systems is proposed. Firstly, coordinate transformation is used to transform the nonholonomic robotic systems into the nonstandard chain model. Then, a distributed cooperative control algorithm is designed, and the Lyapunov stability theorem and LaSalle invariance principle are used to prove that each state of the mobile robot is consensus. Finally, the effectiveness of the algorithm is proved through numerical simulation.