Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot

This paper focuses on consensus of the nonholonomic wheeled mobile robotic systems whose geometric center and centroid do not coincide. A consensus control algorithm for mobile robots based on the nonstandard chain systems is proposed. Firstly, coordinate transformation is used to transform the nonh...

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Autores principales:	Xianyang Meng, Ping He, Xingzhong Xiong, Haoyang Mi, Zuxin Li, Zhigang Wu
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi-Wiley 2021
Materias:	Technology (General) T1-995 Science (General) Q1-390
Acceso en línea:	https://doaj.org/article/8e8ffbdfab574da48478a94b29430199
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spelling	oai:doaj.org-article:8e8ffbdfab574da48478a94b294301992021-11-15T01:19:22ZDistributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot1939-012210.1155/2021/7617819https://doaj.org/article/8e8ffbdfab574da48478a94b294301992021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/7617819https://doaj.org/toc/1939-0122This paper focuses on consensus of the nonholonomic wheeled mobile robotic systems whose geometric center and centroid do not coincide. A consensus control algorithm for mobile robots based on the nonstandard chain systems is proposed. Firstly, coordinate transformation is used to transform the nonholonomic robotic systems into the nonstandard chain model. Then, a distributed cooperative control algorithm is designed, and the Lyapunov stability theorem and LaSalle invariance principle are used to prove that each state of the mobile robot is consensus. Finally, the effectiveness of the algorithm is proved through numerical simulation.Xianyang MengPing HeXingzhong XiongHaoyang MiZuxin LiZhigang WuHindawi-WileyarticleTechnology (General)T1-995Science (General)Q1-390ENSecurity and Communication Networks, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Technology (General) T1-995 Science (General) Q1-390
spellingShingle	Technology (General) T1-995 Science (General) Q1-390 Xianyang Meng Ping He Xingzhong Xiong Haoyang Mi Zuxin Li Zhigang Wu Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot
description	This paper focuses on consensus of the nonholonomic wheeled mobile robotic systems whose geometric center and centroid do not coincide. A consensus control algorithm for mobile robots based on the nonstandard chain systems is proposed. Firstly, coordinate transformation is used to transform the nonholonomic robotic systems into the nonstandard chain model. Then, a distributed cooperative control algorithm is designed, and the Lyapunov stability theorem and LaSalle invariance principle are used to prove that each state of the mobile robot is consensus. Finally, the effectiveness of the algorithm is proved through numerical simulation.
format	article
author	Xianyang Meng Ping He Xingzhong Xiong Haoyang Mi Zuxin Li Zhigang Wu
author_facet	Xianyang Meng Ping He Xingzhong Xiong Haoyang Mi Zuxin Li Zhigang Wu
author_sort	Xianyang Meng
title	Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot
title_short	Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot
title_full	Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot
title_fullStr	Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot
title_full_unstemmed	Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot
title_sort	distributed consensus algorithm for nonholonomic wheeled mobile robot
publisher	Hindawi-Wiley
publishDate	2021
url	https://doaj.org/article/8e8ffbdfab574da48478a94b29430199
work_keys_str_mv	AT xianyangmeng distributedconsensusalgorithmfornonholonomicwheeledmobilerobot AT pinghe distributedconsensusalgorithmfornonholonomicwheeledmobilerobot AT xingzhongxiong distributedconsensusalgorithmfornonholonomicwheeledmobilerobot AT haoyangmi distributedconsensusalgorithmfornonholonomicwheeledmobilerobot AT zuxinli distributedconsensusalgorithmfornonholonomicwheeledmobilerobot AT zhigangwu distributedconsensusalgorithmfornonholonomicwheeledmobilerobot
_version_	1718428935867334656

Distributed Consensus Algorithm for Nonholonomic Wheeled Mobile Robot

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