Connectivity-Preserving Approach for Distributed Adaptive Synchronized Tracking of Networked Uncertain Nonholonomic Mobile Robots
- Authors
- Yoo, S.J.; Park, B.S.
- Issue Date
- Sep-2018
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Connectivity preservation; distributed adaptive synchronized tracking; limited communication ranges; networked mobile robots
- Citation
- IEEE Transactions on Cybernetics, v.48, no.9, pp 2598 - 2608
- Pages
- 11
- Journal Title
- IEEE Transactions on Cybernetics
- Volume
- 48
- Number
- 9
- Start Page
- 2598
- End Page
- 2608
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/3417
- DOI
- 10.1109/TCYB.2017.2743690
- ISSN
- 2168-2267
2168-2275
- Abstract
- This paper addresses a distributed connectivity-preserving synchronized tracking problem of multiple uncertain nonholonomic mobile robots with limited communication ranges. The information of the time-varying leader robot is assumed to be accessible to only a small fraction of follower robots. The main contribution of this paper is to introduce a new distributed nonlinear error surface for dealing with both the synchronized tracking and the preservation of the initial connectivity patterns among nonholonomic robots. Based on this nonlinear error surface, the recursive design methodology is presented to construct the approximation-based local adaptive tracking scheme at the robot dynamic level. Furthermore, a technical lemma is established to analyze the stability and the connectivity preservation of the total closed-loop control system in the Lyapunov sense. An example is provided to illustrate the effectiveness of the proposed methodology. © 2013 IEEE.
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