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    Distributed Stochastic Consensus of Networked Nonholonomic Mobile Robots and Its Formation Application

    Source: Journal of Dynamic Systems, Measurement, and Control:;2022:;volume( 144 ):;issue: 011::page 114501
    Author:
    Liu, Lixia;Ji, Jinchen;Li, Bin;Miao, Zhonghua;Zhou, Jin
    DOI: 10.1115/1.4055163
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper proposes a novel distributed stochastic consensus seeking algorithm for networked nonholonomic wheeled mobile robots (NNWMRs) and its application to consensus-based formation. Time-varying delays and noisy measurement are incorporated into the dynamic model to represent two key issues inherently appearing in the communication and information exchange process among robots. Based on backstepping technique and sliding mode approach, the proposed consensus algorithm integrates kinematic controller and dynamic torque controller into the control protocol. A key feature of the proposed consensus algorithm is the introduction of the consensus gains, which characterizes the effects of time delays and noisy measurement. A unified methodology is provided for the convergence analysis of the networked system by using the generalized stochastic delayed Halanay inequality. It is shown that time delays and noisy measurement can play crucial roles in distributed consensus seeking in collaborative multirobot systems. Illustrative examples and simulations are provided to demonstrate and validate the theoretical results.
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      Distributed Stochastic Consensus of Networked Nonholonomic Mobile Robots and Its Formation Application

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    contributor authorLiu, Lixia;Ji, Jinchen;Li, Bin;Miao, Zhonghua;Zhou, Jin
    date accessioned2022-12-27T23:22:04Z
    date available2022-12-27T23:22:04Z
    date copyright9/8/2022 12:00:00 AM
    date issued2022
    identifier issn0022-0434
    identifier otherds_144_11_114501.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4288484
    description abstractThis paper proposes a novel distributed stochastic consensus seeking algorithm for networked nonholonomic wheeled mobile robots (NNWMRs) and its application to consensus-based formation. Time-varying delays and noisy measurement are incorporated into the dynamic model to represent two key issues inherently appearing in the communication and information exchange process among robots. Based on backstepping technique and sliding mode approach, the proposed consensus algorithm integrates kinematic controller and dynamic torque controller into the control protocol. A key feature of the proposed consensus algorithm is the introduction of the consensus gains, which characterizes the effects of time delays and noisy measurement. A unified methodology is provided for the convergence analysis of the networked system by using the generalized stochastic delayed Halanay inequality. It is shown that time delays and noisy measurement can play crucial roles in distributed consensus seeking in collaborative multirobot systems. Illustrative examples and simulations are provided to demonstrate and validate the theoretical results.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleDistributed Stochastic Consensus of Networked Nonholonomic Mobile Robots and Its Formation Application
    typeJournal Paper
    journal volume144
    journal issue11
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.4055163
    journal fristpage114501
    journal lastpage114501_8
    page8
    treeJournal of Dynamic Systems, Measurement, and Control:;2022:;volume( 144 ):;issue: 011
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian