Group consensus coordination control in networked nonholonomic multirobot systems

In this article, the coordination control problem of group tracking consensus is considered for networked nonholonomic mobile multirobot systems (NNMMRSs). This problem framework generalizes the findings of complete consensus in NNMMRSs and group consensus in networked Lagrangian systems (NLSs), enjoying capacious application backgrounds. By leveraging a kinematic controller embedded in the adaptive torque control protocols, a new convergence criterion of group consensus is established. In contrast to the formulation under strict algebraic assumptions, it is found that group tracking consensus for NNMMRSs can be realized under a simple geometrical condition. The system stability analysis is dictated by the property of network topology with acyclic partition. Finally, the theoretical achievements are verified by illustrative numerical examples. The results show an interesting phenomenon that, for NNMMRSs, the state responses exhibit negative correlation with the algebraic connectivity and coupling strength.

Leader-Following Regional Multiple-Bipartite Consensus for Networked Lagrangian Systems with Coopetition Interactions

This paper investigates the leader-following regional multiple-bipartite consensus problems of networked Lagrangian systems (NLSs) in coopetition networks. Our framework expands the application scopes of traditional regional consensus in cooperative networks. With the aid of a novel auxiliary variable embedded in the control protocols, the final states of NLSs are guaranteed to realise multi-regional symmetry in the constructed multiple symmetric regions. By utilising the characteristic of acyclic topology in the structurally balanced graph, the stability of the closed system is performed by perturbation analysis theory, nonlinear control theory, functional analysis theory, and so on. Finally, the effectiveness of our approach is verified by numerical simulations.

Event-triggered stochastic consensus for networked Lagrangian systems with semi-Markov switching topologies and communication delays

In this paper, the event-triggered stochastic consensus for networked Lagrangian systems with semi-Markov switching topologies and communication delays is considered. An event-triggered sampling control strategy is used to design the distributed stochastic consensus scheme of networked Lagrangian systems for two cases with leader and leaderless. Two delay-dependent consensus criteria are derived in the sense of mean square by use of a suitable Lyapunov-Krasovskii functional and the stochastic delayed Halanay inequality, respectively. A key feature of the developed event-triggered consensus algorithm is to introduce a suitable adjustment parameter on consensus control gains characterizing the effect of both semi-Markov switching topology and communication delay. Finally, a numerical example of four manipulators with two links is presented to illustrate the effectiveness of the developed event-triggered methodology.