Paper Info
Title
Distributed Consensus-Based Event-Triggered Approximate Control Of Nonholonomic Mobile Robot Formations
Abstract
In this paper, a distributed consensus-based formation control of networked nonholonomic mobile robots using neural networks (NN) in the presence of uncertain robot dynamics with event-based communication is presented. The robots communicate their location and velocity information with their neighbors, at event-based sampling instants, to drive themselves to a pre-defined desired formation by using distributed controllers. For relaxing the perfect velocity tracking assumption, control torque is designed to reduce the velocity tracking error by explicitly taking into account each robot dynamics and the formation dynamics of the network of robots via NN approximation. The approximated dynamics are employed to generate the control torque with event-sampled measurement updates and communication. For the distributed formation control scheme, Lyapunov stability theory is utilized to develop decentralized event-sampling condition and to demonstrate that the robots reach a consensus in their regulation errors. Finally, simulation results are presented to verify theoretical claims and to demonstrate the reduction in computations and communication cost.
Year
Venue
Keywords
2017
2017 AMERICAN CONTROL CONFERENCE (ACC)
Event-sampled control, Adaptive consensus, Mobile robot formations, Neural Networks
Field
DocType
ISSN
Consensus,Computer science,Adaptive system,Control theory,Lyapunov stability,Control engineering,Adaptive control,Artificial neural network,Robot,Mobile robot,Tracking error
Conference
0743-1619
Citations 
PageRank 
References 
0
0.34
8
Authors
5
Name
Order
Citations
PageRank
Haci Mehmet Guzey141.43
vignesh narayanan2293.77
Sarangapani Jagannathan3113694.89
Travis Dierks439723.62
Acar, Levent5127.48