Distributed Full-Consensus Control of Nonholonomic Vehicles Under Non-Differentiable Measurement Delays

Decentralized Fuzzy Control of Multiple Nonholonomic Vehicles

This work considers the problem of controlling multiple nonholonomic vehicles so that they converge to a scent source without colliding with each other. Since the control is to be implemented on simple &bit microcontrollers, fuzzy control rules are used to simplify a linear quadratic regulator control design. The inputs to the fuzzy controllers for each vehicle q e the (noisy) direction to the ...

Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots

In this paper, we investigate the output consensus problem of tracking a desired trajectory for a class of systems consisting of multiple nonlinear subsystems with intrinsic mismatched unknown parameters. The subsystems are allowed to have non-identical dynamics, whereas with similar structures and the same yet arbitrary system order. Suppose that the communications among the subsystems can be ...

A new virtual leader-following consensus protocol to internal and string stability analysis of longitudinal platoon of vehicles with generic network topology under communication and parasitic delays

In this paper, a new virtual leader following consensus protocol is introduced to perform the internal and string stability analysis of longitudinal platoon of vehicles under generic network topology. In all previous studies on multi-agent systems with generic network topology, the control parameters are strictly dependent on eigenvalues of network matrices (adjacency or Laplacian). Since some ...

Motion coordination and control in systems of nonholonomic autonomous vehicles

Adaptive Distributed Consensus Control for a Class of Heterogeneous and Uncertain Nonlinear Multi-Agent Systems

This paper has been devoted to the design of a distributed consensus control for a class of uncertain nonlinear multi-agent systems in the strict-feedback form. The communication between the agents has been described by a directed graph. Radial-basis function neural networks have been used for the approximation of the uncertain and heterogeneous dynamics of the followers as well as the effect o...