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| Content Provider | IET Digital Library |
|---|---|
| Author | Chen, Xia Hao, Fei Ma, Baoli |
| Abstract | This study investigates the periodic event-triggered control for the hand position centroid consensus/formation problems of multiple non-holonomic wheeled mobile robots. By constructing invertible input transformation, the dynamics of the hand positions are formulated as two groups of first-order integrators. Then, the event-triggered control laws and the event conditions are proposed. On the basis of Lyapunov theory and the algebraic graph theory, permissible value ranges of the sampling period and the event condition parameters are established, guaranteeing that all the hand positions asymptotically tend to the common initial centroid location or the desired formation shape centred at the initial centroid. In addition, the orientations and the velocity inputs of each robot are ensured to reach some constants and zeros, respectively. Finally, simulations illustrate the efficiency of the proposed theoretical results. |
| Starting Page | 890 |
| Ending Page | 899 |
| Page Count | 10 |
| ISSN | 17518644 |
| Volume Number | 11 |
| e-ISSN | 17518652 |
| Issue Number | Issue 6, Apr (2017) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-cta/11/6 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2016.0960 |
| Journal | IET Control Theory & Applications |
| Publisher Date | 2017-01-09 |
| Access Restriction | Open |
| Rights Holder | © The Institution of Engineering and Technology |
| Subject Keyword | Acceleration Algebra Algebraic Graph Theory Combinatorial Mathematics Event Condition Parameter Event-triggered Control Law First-order Integrators Graph Theory Hand Position Centroid Consensus Hand Position Centroid Formation Hand Positions Dynamics Invertible Input Transformation Lyapunov Method Lyapunov Theory Manipulator Dynamics Manipulators Mobile Robots Multi-robot System Multiple Nonholonomic Wheeled Mobile Robots Optimal Control Periodic Control Periodic Event-triggered Cooperative Control Position Control Robot And Manipulator Mechanics Robot Orientations Robot Velocity Rotation Control Sampling Period Spatial Variables Control Stability in Control Theory Time Varying Control System Velocity Velocity Control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications |
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