Udwadia-Kalaba approach based distributed consensus control for multi-mobile robot systems with communication delays |
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| Institution: | 1. National Center for Applied Mathematics in Chongqing, Chongqing Normal University, Chongqing, 401331, PR China;2. Shanghai Institute of Applied Mathematics and Mechanics, Shanghai Key Laboratory of Mechanics in Energy Engineering, School of Mechanics and Engineering Science, Shanghai University, Shanghai, 200072, PR China;3. Faculty of Engineering and IT, University of Technology Sydney, NSW 2007, Australia;4. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200072, PR China;1. School of Artificial Intelligence, Shenyang University of Technology, Shenyang, Liaoning, 110870, China;2. School of Automation, Nanjing University of Science and Technology, Nanjing, Jiangsu, 210094, China;1. School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang 524088, China;2. Shenzhen Institute of Guangdong Ocean University, Shenzhen 518120, China;1. Dalian University of Technology, Dalian, China;2. Central South University, Changsha, China |
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| Abstract: | In this paper, a distributed consensus algorithm for multi-mobile robot systems (MMRSs) with communication delays is proposed based on the Udwadia-Kalaba (UK) approach. The key feature of the proposed algorithm is that the consensus requirement is configured as a second-order constraint, and then a concise and explicit equation of motion for the constrained mechanical systems is formulated. Furthermore, the necessary and sufficient conditions for achieving the consensus of MMRSs with or without communication delays are developed under the network topology possessing a directed spanning tree. Finally, some numerical simulations are performed to verify the validity of the proposed consensus algorithm. |
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