Decentralized cooperative control of multiple nonholonomic dynamic systems with uncertainty

被引：112

作者：

Dong, Wenjie ^{[1
]}

Farrell, Jay A. ^{[1
]}

机构：

[1] Univ Calif Riverside, Dept Elect Engn, Riverside, CA 92521 USA

来源：

AUTOMATICA | 2009年 / 45卷 / 03期

基金：

美国国家科学基金会;

关键词：

Cooperative control; Consensus; Decentralized control; Nonholonomic system; Formation control; Mobile robots; COORDINATION;

D O I：

10.1016/j.automatica.2008.09.015

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers feedback control of a group of nonholonomic dynamic systems with uncertainty. Decentralized cooperative controllers are proposed with the aid of Lyapunov techniques, results of graph theory, and backstepping techniques. Robustness of the control laws with respect to communication delays is analyzed. An application of the proposed results is discussed. Simulation results show the effectiveness of the proposed controllers. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：706 / 710

页数：5