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

• Published in: IEEE access Vol. 13; pp. 94658 - 94666
• Main Authors: Zhang, Zhihua, Wang, Chaoli, Cai, Xuan
• Format: Journal Article
• Language: English
• 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

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...