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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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