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Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with only position information of leader

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  • Zou, Ying
  • Deng, Chao
  • Dong, Lu
  • Ding, Lei
  • Lu, Ming

Abstract

In this paper, distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with limited information of leader is studied. Different from the existing results, the considered consensus problem has the following features: (i) each robot is described by a second-order dynamic model with parametric uncertainty and external disturbances, (ii) the global information of the directed graphs is not required, (iii) only the position of the leader is available for a subset of robots and thus its velocity information is no longer needed. To solve such a problem, an adaptive output feedback control scheme which involves estimator, observer and controller design is proposed. A fully distributed estimator is constructed to estimate the position of the leader for each robot. Based on the estimated information, an adaptive observer-based output feedback controller is designed to realize consensus tracking. It is shown that the boundedness of all the signals in the resulting closed-loop system is guaranteed, and the consensus tracking error of the system converges to an adjustable neighborhood of zero by appropriately choosing design parameters. Simulation results are provided to verify the effectiveness of the proposed scheme.

Suggested Citation

  • Zou, Ying & Deng, Chao & Dong, Lu & Ding, Lei & Lu, Ming, 2022. "Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with only position information of leader," Applied Mathematics and Computation, Elsevier, vol. 422(C).
    • Handle: RePEc:eee:apmaco:v:422:y:2022:i:c:s0096300322000480
    DOI: 10.1016/j.amc.2022.126962
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    References listed on IDEAS

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    1. Wenjie Dong & Vladimir Djapic, 2016. "Leader-following control of multiple nonholonomic systems over directed communication graphs," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(8), pages 1877-1890, June.
    2. Zhao, Xiao-Qi & Guo, Shun & Long, Yue & Zhong, Guang-Xin, 2022. "Simultaneous fault detection and control for discrete-time switched systems under relaxed persistent dwell time switching," Applied Mathematics and Computation, Elsevier, vol. 412(C).
    3. Wang, Yanqian & Chen, Fu & Zhuang, Guangming & Yang, Guang, 2020. "Dynamic event-based mixed H∞ and dissipative asynchronous control for Markov jump singularly perturbed systems," Applied Mathematics and Computation, Elsevier, vol. 386(C).
    4. Chang, Xiao-Heng & Jin, Xue, 2022. "Observer-based fuzzy feedback control for nonlinear systems subject to transmission signal quantization," Applied Mathematics and Computation, Elsevier, vol. 414(C).
    5. Zhaoxia Peng & Shichun Yang & Guoguang Wen & Ahmed Rahmani, 2014. "Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-12, May.
    6. Wenjie Dong, 2012. "Distributed observer-based cooperative control of multiple nonholonomic mobile agents," International Journal of Systems Science, Taylor & Francis Journals, vol. 43(5), pages 797-808.
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    Cited by:

    1. Gao, Shanshan & Zhang, Shenggui & Chen, Xinzhuang & Song, Xiaodi, 2023. "Effects of adding arcs on the consensus convergence rate of leader-follower multi-agent systems," Applied Mathematics and Computation, Elsevier, vol. 453(C).
    2. Miranda-Colorado, Roger, 2022. "Observer-based proportional integral derivative control for trajectory tracking of wheeled mobile robots with kinematic disturbances," Applied Mathematics and Computation, Elsevier, vol. 432(C).

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