Distributed Control Algorithms for Nonholonomic Mobile Robots With Time-Varying Position Constraints and Event-Triggered Communication

In this paper, the consensus problem of multiple nonholonomic mobile robots is addressed under event-triggered communication. It is assumed that the position of each robot is subject to generic time-varying constraints, and that the communication graph contains a directed spanning tree. A novel dist...

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Published inIEEE access Vol. 13; pp. 94658 - 94666
Main Authors Zhang, Zhihua, Wang, Chaoli, Cai, Xuan
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
adaptive control
Algorithms
Closed loops
Consensus control
Constraints
Coordinate transformations
Directed graphs
Distributed control
Event detection
Feedback control
Graph theory
Laplace equations
Liapunov functions
Mobile robots
Multi-agent systems
nonlinear systems
Reference signals
Robot kinematics
Robots
Underactuated surface vessels
Vectors
Vehicle dynamics
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Abstract In this paper, the consensus problem of multiple nonholonomic mobile robots is addressed under event-triggered communication. It is assumed that the position of each robot is subject to generic time-varying constraints, and that the communication graph contains a directed spanning tree. A novel distributed algorithm that employs coordinate transformation with transverse functions and dynamic systems to generate reference signals is presented. Rigorous analysis, based on appropriately constructed Lyapunov functions, demonstrates that all signals in the closed-loop system remain bounded and that the consensus error can be regulated within a neighborhood of the origin. Moreover, we prove that the time-varying position constraints are consistently satisfied. The existence of a positive minimum inter-event time is also established for preventing Zeno behavior. The efficacy of the proposed approach is validated through comprehensive simulation studies involving five mobile robots.
AbstractList In this paper, the consensus problem of multiple nonholonomic mobile robots is addressed under event-triggered communication. It is assumed that the position of each robot is subject to generic time-varying constraints, and that the communication graph contains a directed spanning tree. A novel distributed algorithm that employs coordinate transformation with transverse functions and dynamic systems to generate reference signals is presented. Rigorous analysis, based on appropriately constructed Lyapunov functions, demonstrates that all signals in the closed-loop system remain bounded and that the consensus error can be regulated within a neighborhood of the origin. Moreover, we prove that the time-varying position constraints are consistently satisfied. The existence of a positive minimum inter-event time is also established for preventing Zeno behavior. The efficacy of the proposed approach is validated through comprehensive simulation studies involving five mobile robots.
Author Zhang, Zhihua
Wang, Chaoli
Cai, Xuan
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SubjectTerms adaptive control
Algorithms
Closed loops
Consensus control
Constraints
Coordinate transformations
Directed graphs
Distributed control
Event detection
Feedback control
Graph theory
Laplace equations
Liapunov functions
Mobile robots
Multi-agent systems
nonlinear systems
Reference signals
Robot kinematics
Robots
Underactuated surface vessels
Vectors
Vehicle dynamics
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Title Distributed Control Algorithms for Nonholonomic Mobile Robots With Time-Varying Position Constraints and Event-Triggered Communication
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