Udwadia-Kalaba approach based distributed consensus control for multi-mobile robot systems with communication delays

【Author】 Wang, Conghua; Ji, Jinchen; Miao, Zhonghua; Zhou, Jin

【Source】JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS

【影响因子】4.246

【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. (C) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

【Keywords】

【发表时间】2022 SEP

【收录时间】2022-10-02

【文献类型】理论模型

【主题类别】

区块链技术-核心技术-共识机制