Leader-following distributed control of Multiple Nonholonomic Wheeled Mobile Robots

Lee Zhi Xian, Muhammad Mahyuddin, Guido Herrmann

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

2 Citations (Scopus)
315 Downloads (Pure)

Abstract

This paper considers leader-following distributed control for nonholonomic mobile agents. The mobile agents consist of a group of wheeled mobile robots with differential drive configurations. With the aid of graph theory, various inter-agent communication scenarios are studied ranging from weakly connected to strongly connected graph. The distributed control scheme defined per agent consists of two levels; one level defines the joint-level velocity control which uses a gradient-based adaptive law to compensate for mobile robot agent dynamics and a sliding-mode control; another level defines the upper level which is responsible for Cartesian control. The consensus algorithm which executes the leader-following protocol resides within the Cartesian control. Several network topologies have been studied by applying the proposed Cooperative Control scheme.
Original languageEnglish
Title of host publicationTENCON 2015 - 2015 IEEE Region 10 Conference
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1-6
Number of pages6
ISBN (Electronic)9781479986392
ISBN (Print)9781479986415
DOIs
Publication statusPublished - 5 Jan 2016
Event35th IEEE Region 10 Conference, TENCON 2015 - Macau, Macao
Duration: 1 Nov 20154 Nov 2015

Publication series

NameProceedings of the IEEE TENCON
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)2159-3442

Conference

Conference35th IEEE Region 10 Conference, TENCON 2015
CountryMacao
CityMacau
Period1/11/154/11/15

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