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Fixed-Time Consensus Tracking of Wheeled Mobile Robots Under Digraph with Packet Dropout

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Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 934))

Abstract

This paper develops fixed-time consensus tracking control protocol for wheeled mobile robots under digraph with packet dropout and applies the developed control protocol to the formation of wheeled mobile robots. A distributed observer is developed to estimate the leader’s control inputs and states within fixed time in the presence of packet dropout and under digraph. Then, two fixed-time controllers are designed to drive the follower’s states to the leader’s trajectories. Finally, we apply the developed consensus scheme to formation of wheeled mobile robots and verify the effectiveness of the developed consensus scheme.

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Acknowledgements

This work is partially supported by the National Natural Science Foundation of China under grant 61903302.

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Authors and Affiliations

  1. School of Automation, Northwestern Polytechnical University, Xi’an, 710072, China

    Junkang Ni & Yu Zhao

Authors
  1. Junkang Ni
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  2. Yu Zhao
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Correspondence to Junkang Ni .

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Editors and Affiliations

  1. Beihang University, Beijing, China

    Zhang Ren

  2. Beijing Institute of Electronic System Engineering, Beijing, China

    Mengyi Wang

  3. Beihang University, Beijing, China

    Yongzhao Hua

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Ni, J., Zhao, Y. (2023). Fixed-Time Consensus Tracking of Wheeled Mobile Robots Under Digraph with Packet Dropout. In: Ren, Z., Wang, M., Hua, Y. (eds) Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control. Lecture Notes in Electrical Engineering, vol 934. Springer, Singapore. https://doi.org/10.1007/978-981-19-3998-3_136

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  • DOI: https://doi.org/10.1007/978-981-19-3998-3_136

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-3997-6

  • Online ISBN: 978-981-19-3998-3

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