Event-triggered consensus of multiple nonholonomic mobile robots

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Automatica Pub Date : 2025-04-01 Epub Date: 2025-01-27 DOI:10.1016/j.automatica.2025.112156

Liang Xu , Youfeng Su , He Cai

引用次数: 0

Abstract

This paper solves the leaderless consensus problem of multiple nonholonomic mobile robots over undirected graphs by a novel distributed event-triggered controller where a persistently exciting signal is utilized to overcome the nonholonomic constraint. A new triggering mechanism containing two triggering conditions is developed with respect to the cascaded structure of the closed-loop system which makes the leaderless consensus problem tractable in the sense that we no longer need to find any strict Lyapunov function for the entire closed-loop system. It is proven in order that the solution of the closed-loop system is uniformly globally bounded, that the full consensus subspace is uniformly globally exponentially attractive, and that the Zeno behavior shall never occur. A numerical example is provided to validate the effectiveness of the proposed controller.

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多个非完整移动机器人的事件触发共识

本文采用一种新颖的分布式事件触发控制器，利用持续激励信号克服非完整约束，解决了无向图上多个非完整移动机器人的无领导一致性问题。针对闭环系统的级联结构，提出了一种包含两个触发条件的触发机制，使得整个闭环系统的无领导共识问题变得易于处理，不再需要为整个闭环系统寻找任何严格的Lyapunov函数。为了证明闭环系统的解是一致全局有界的，完整一致子空间是一致全局指数吸引的，并且永远不会出现Zeno行为。通过数值算例验证了所提控制器的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.

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