Guoguang Wen

Leader-follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach

This paper investigates the leader-follower formation control problem for nonholonomic mobile robots based on a bioinspired neurodynamics based approach. The trajectory tracking control for a single nonholonomic mobile robot is extended to the formation control for multiple nonholonomic mobile robots based on the backstepping technique, in which the follower can track its real-time leader by the proposed kinematic controller. An auxiliary angular velocity control law is proposed to guarantee the global asymptotic stability of the followers and to further guarantee the local asymptotic stability of the entire formation. Also a bioinspired neurodynamics based approach is further developed to solve the impractical velocity jumps problem. The rigorous proofs are given by using Lyapunov theory. Simulations are also given to verify the effectiveness of the theoretical results.

Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory

In this paper, the distributed formation control problem for multiple nonholonomic mobile robots using consensus-based approach is considered. A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Distributed control laws are developed for achieving the formation control objectives: a group of nonholonomic mobile robots at least exponentially converge to a desired geometric pattern with its centroid moving along the specified reference trajectory. Rigorous proofs are provided by using graph, matrix , and Lyapunov theories. Simulations are also given to verify the effectiveness of the theoretical results.

Adaptive distributed formation control for multiple nonholonomic wheeled mobile robots

This paper investigates the adaptive distributed formation control problem for multiple nonholonomic wheeled mobile robots. First, the formation control problem is converted into a state consensus problem by the aid of a variable transformation. Then, distributed kinematic controllers and adaptive dynamic controllers are developed for each robot such that a group of nonholonomic mobile robots asymptotically converge to a desired geometric pattern with its centroid moving along the specified reference trajectory. The specified reference trajectory is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers. Also the followers are assumed to have only local interaction. Some sufficient conditions are derived for accomplishing the asymptotically stability of the systems based on algebraic graph theory, matrix theory, and Lyapunov control approach. Finally, simulation examples illustrate the effectiveness of the proposed controllers. HighlightsAdaptive distributed formation control for multiple nonholonomic wheeled mobile robots is investigated.Formation control problem is converted to a state consensus problem via a variable transformation.The specified reference trajectory is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers.Distributed kinematic controllers are designed for guaranteeing to reach desired formation.Adaptive dynamic controllers are proposed for guaranteeing mobile robots to track theirs desired kinematic inputs.

Consensus with a reference state for fractional-order multi-agent systems

This paper investigates consensus of fractional-order multi-agent systems (MASs) with a reference state. First, a consensus control law with a constant reference state is given using graph theory and stability analysis of fractional-order. Then, a general control law and a particular one for consensus of fractional-order MASs with a time-varying reference state are proposed. Next, the above control laws are extended to solve formation tracking problem. Finally, several simulations are presented to verify the effectiveness of the obtained results.

Distributed formation control of fractional-order multi-agent systems with absolute damping and communication delay

The distributed formation control of fractional-order multi-agent systems is mainly studied under directed interaction topology in this paper. First, the control algorithm with absolute damping and communication delay is proposed to achieve the formation control. Then, some sufficient conditions are derived by using the matrix theory, graph theory and the frequency-domain analysis method. Finally, based on the numerical method of predictor–corrector, several simulations are presented to illustrate the effectiveness of the obtained results.

Distributed finite-time consensus tracking for nonlinear multi-agent systems with a time-varying reference state

This paper investigates the consensus tracking problem for nonlinear multi-agent systems with a time-varying reference state. The consensus reference is taken as a virtual leader, whose output is only its position information that is available to only a subset of a group of followers. The dynamics of each follower consists of two terms: nonlinear inherent dynamics and a simple communication protocol relying only on the position of its neighbours. In this paper, the consensus tracking problem is respectively considered under fixed and switching communication topologies. Some corresponding sufficient conditions are obtained to guarantee the states of followers can converge to the state of the virtual leader in finite time. Rigorous proofs are given by using graph theory, matrix theory, and Lyapunov theory. Simulations are presented to illustrate the theoretical analysis.

Group consensus control for heterogeneous multi-agent systems with fixed and switching topologies

ABSTRACT In this paper, the group consensus problems of heterogeneous multi-agent systems with fixed and switching topologies are investigated. First, a class of distributed group consensus protocol is proposed for achieving the group consensus of heterogeneous multi-agent systems by using the neighbours’ information. Then, some corresponding sufficient conditions are obtained to guarantee the achievement of group consensus. Rigorous proofs are given by using graph theory, matrix theory and Lyapunov theory. Finally, numerical simulations are also given to verify the theoretical analysis.

Distributed consensus tracking for the fractional-order multi-agent systems based on the sliding mode control method

Distributed consensus tracking for the fractional-order multi-agent systems is mainly studied in this paper. Firstly, the simple Lyapunov candidate function is discussed to judge the validity of the proposed controller. Secondly, according to the sliding mode control method, a controller is designed to achieve the consensus tracking problem when the followers are described by the fractional-order linear dynamics. Thirdly, the case when the dynamics of followers own the intrinsic nonlinear function is discussed, it proves that the designed sliding mode controller is still valid for this case under the certain conditions. For the above two parts, the systems stabilities are judged based on the result of the first part. Finally, several simulations are presented to verify the obtained results.

Consensus tracking for second-order nonlinear multi-agent systems with switching topologies and a time-varying reference state

ABSTRACT In this study, the authors consider the consensus tracking problem for second-order nonlinear multi-agent systems with switching topologies and a time-varying reference state. The dynamics of each agent consists of nonlinear inherent dynamics. In order to reach consensus tracking, a class of nonsmooth control protocols is proposed which only depends on the agents own information and its neighbours’ information. With the aid of algebraic graph theory, matrix theory, and Lyapunov theory, some corresponding sufficient conditions guaranteeing consensus tracking under the proposed control protocols are derived. Finally, the numerical simulations are given to illustrate the effectiveness of the developed theoretical results.

The Synchronization of Three Fractional Order Lorenz Chaotic Systems

This paper mainly investigates the chaos synchronization of three identical fractional-order Lorenz systems with linearly ring coupling, and the sufficient conditions to realize synchronization are obtained by using Laplace transform theory. Numerical simulations are used to illustrate the effectiveness of the results obtained.