Event-Based Rendezvous Control for a Group of Robots With Asynchronous Periodic Detection and Communication Time Delays

被引:27
作者
Mu, Bingxian [1 ]
Zhang, Kunwu [1 ]
Xiao, Feng [2 ]
Shi, Yang [1 ]
机构
[1] Univ Victoria, Dept Mech Engn, Victoria, BC V8W 3P6, Canada
[2] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Harbin 150001, Heilongjiang, Peoples R China
基金
加拿大自然科学与工程研究理事会; 中国国家自然科学基金;
关键词
Consensus; event-triggered control; multiagent systems (MASs); time-varying delays; two-wheeled mobile robots (2WMRs); SAMPLED-DATA CONSENSUS; MULTIAGENT SYSTEMS; TRIGGERED CONTROL; SWITCHING TOPOLOGY; STABILITY ANALYSIS; AGENTS; STABILIZATION; NONUNIFORM; NETWORKS; DESIGN;
D O I
10.1109/TCYB.2018.2831684
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we propose an event-triggered rendezvous control method for multiple two-wheeled mobile robots (2WMRs) subject to time-varying communication delays. By checking the integral-type event-triggering conditions asynchronously and periodically, each 2WMR determines whether or not to sample and broadcast its states. When the information used in an agent's controller is updated, the 2WMR calculates its x (or y) control input, and then a Rotate&Compensate&Run Rendezvous Scheme is provided for 2WMRs to update their states. We present a sufficient condition for 2WMRs to asymptotically reach rendezvous, and the convergence analysis is conducted using the Lyapunov functional approach. Experiments are further presented to validate the effectiveness of the proposed control method.
引用
收藏
页码:2642 / 2651
页数:10
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