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access icon free Periodic event-triggered cooperative control of multiple non-holonomic wheeled mobile robots

  • Author(s): Xia Chen 1 ; Fei Hao 2 ; Baoli Ma 2
    • View affiliations
    • Affiliations: 1: School of Automation Engineering, Qingdao University of Technology, Qingdao 266520, People's Republic of China ;
      2: School of Automation Science and Electrical Engineering, Seventh Research Division, Beihang University, Beijing 100191, People's Republic of China
  • Source: Volume 11, Issue 6, 14 April 2017, p. 890 – 899
    DOI:  10.1049/iet-cta.2016.0960 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 22/07/2016, Accepted 02/01/2017, Revised 16/12/2016, Published 09/01/2017

This study investigates the periodic event-triggered control for the hand position centroid consensus/formation problems of multiple non-holonomic wheeled mobile robots. By constructing invertible input transformation, the dynamics of the hand positions are formulated as two groups of first-order integrators. Then, the event-triggered control laws and the event conditions are proposed. On the basis of Lyapunov theory and the algebraic graph theory, permissible value ranges of the sampling period and the event condition parameters are established, guaranteeing that all the hand positions asymptotically tend to the common initial centroid location or the desired formation shape centred at the initial centroid. In addition, the orientations and the velocity inputs of each robot are ensured to reach some constants and zeros, respectively. Finally, simulations illustrate the efficiency of the proposed theoretical results.

Inspec keywords: velocity control; algebra; mobile robots; periodic control; graph theory; position control; multi-robot systems; manipulator dynamics; Lyapunov methods

Other keywords: robot velocity; event condition parameters; hand position centroid consensus; algebraic graph theory; invertible input transformation; event-triggered control laws; periodic event-triggered cooperative control; multiple nonholonomic wheeled mobile robots; robot orientations; Lyapunov theory; sampling period; hand positions dynamics; first-order integrators; hand position centroid formation

Subjects: Algebra; Time-varying control systems; Combinatorial mathematics; Stability in control theory; Robot and manipulator mechanics; Combinatorial mathematics; Optimal control; Spatial variables control; Velocity, acceleration and rotation control; Algebra; Manipulators; Mobile robots

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