期刊
IEEE TRANSACTIONS ON CYBERNETICS
卷 50, 期 10, 页码 4381-4392出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2019.2955543
关键词
Mobile robots; Protocols; Directed graphs; Observers; Manifolds; Nonlinear dynamical systems; Directed graphs; fixed-time consensus; formation control; leader-following consensus; wheeled mobile robots
类别
资金
- Australian Research Council Discovery Project [DP160103567]
- Zhejiang Provincial Natural Science Foundation of China [LY18F030008]
This article deals with the problem of leader-following consensus for multiple wheeled mobile robots. Under a directed graph, a distributed observer is proposed for each follower to estimate the leader state in a fixed time. Based on the observer and a constructed nonlinear manifold, a novel protocol is designed such that the estimated leader state is tracked in a fixed time. Moreover, a switching protocol together with a linear manifold is proposed to ensure that fixed-time leader-following consensus is realized for any initial conditions without causing singularity issues. In contrast to alternative fixed-time consensus protocols in some existing results, the protocol proposed in this article is designed by constructing the nonlinear or linear manifold, which builds a new framework for fixed-time leader-following consensus. Furthermore, the obtained upper bound of settling time is explicitly linked with a single parameter in the protocol, which facilitates the adjustment of the bound under different performance requirements. Finally, the proposed protocol is applied to formation control of wheeled mobile robots.
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