TY - GEN
T1 - Robust connectivity preserving rendezvous of multi-robot systems under unknown dynamics and disturbances
AU - Feng, Zhi
AU - Sun, Chao
AU - Hu, Guoqiang
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/2/8
Y1 - 2015/2/8
N2 - This paper studies a robust connectivity preserving rendezvous problem for a leader-following multi-robot system. Only a small group of mobile robots are informed to have access to the leader's information. A distributed control law is proposed such that connectivity preserving rendezvous is achieved regardless of the unknown nonlinear dynamics and disturbances. Although the multi-robot network has a dynamic network topology, the developed controller is able to maintain the connectivity of an initially connected communication network. Using the tools from algebraic graph theory, Lyapunov method, and nonsmooth analysis, sufficient conditions on the convergence of the closed-loop error systems are derived.
AB - This paper studies a robust connectivity preserving rendezvous problem for a leader-following multi-robot system. Only a small group of mobile robots are informed to have access to the leader's information. A distributed control law is proposed such that connectivity preserving rendezvous is achieved regardless of the unknown nonlinear dynamics and disturbances. Although the multi-robot network has a dynamic network topology, the developed controller is able to maintain the connectivity of an initially connected communication network. Using the tools from algebraic graph theory, Lyapunov method, and nonsmooth analysis, sufficient conditions on the convergence of the closed-loop error systems are derived.
KW - Connectivity maintenance
KW - Distributed gradient-based control
KW - Multi-robot systems
KW - Rendezvous
UR - https://www.scopus.com/pages/publications/84962034310
U2 - 10.1109/CDC.2015.7402884
DO - 10.1109/CDC.2015.7402884
M3 - 会议稿件
AN - SCOPUS:84962034310
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4266
EP - 4271
BT - 54rd IEEE Conference on Decision and Control,CDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th IEEE Conference on Decision and Control, CDC 2015
Y2 - 15 December 2015 through 18 December 2015
ER -