Networked multirobot systems under the coordinated control can perform tasks more effectively than a group of individually operating robots. This paper studies the group regional consensus of networked multirobot systems (formulated by second-order Lagrangian dynamics) having input disturbances under directed acyclic topology. An adaptive control protocol is designed to achieve group regional consensus of the networked Lagrangian systems with parametric uncertainties for both leader and leaderless cases. Sufficient conditions are established to guarantee group regional consensus for any prior given desired consensus errors. Compared with the existing work, a distinctive feature of the proposed control algorithm is that the stability analysis indicates the global validity of the obtained consensus results. Numerical examples are provided to demonstrate the effectiveness of the proposed scheme.
Group Regional Consensus of Networked Lagrangian Systems With Input Disturbances
Shanghai 200072, China;
Qufu 273155, Shandong, China
Shanghai 200072, China
University of Technology Sydney,
PO Box 123, Broadway,
Ultimo 2007, NSW, Australia
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 15, 2016; final manuscript received January 18, 2017; published online June 5, 2017. Assoc. Editor: Dejan Milutinovic.
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Liu, J., Miao, Z., Ji, J., and Zhou, J. (June 5, 2017). "Group Regional Consensus of Networked Lagrangian Systems With Input Disturbances." ASME. J. Dyn. Sys., Meas., Control. September 2017; 139(9): 094501. https://doi.org/10.1115/1.4036029
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