Skip to main content
SpringerLink
Log in

Time-Variant Consensus Tracking Control for Networked Planar Multi-Agent Systems with Non-Holonomic Constraints

  • Published:
Journal of Systems Science and Complexity Aims and scope Submit manuscript

Abstract

A time-variant consensus tracking control problem for networked planar multi-agent systems with non-holonomic constraints is investigated in this paper. In the time-variant consensus tracking problem, a leader agent is expected to track a desired reference input, simultaneously, follower agents are expected to maintain a time-variant formation. To solve the time-variant consensus tracking problem of planar multi-agent systems with non-holonomic constraints, a time-variant consensus tracking control strategy is designed on the basis of an unidirectional topology structure. One of main contributions of this paper is the time-variant consensus tracking protocol for general time-variant formations of planar multi-agent systems with non-holonomic constraints, the other main contribution of this paper is an active predictive control strategy, where predictions of agents are generated actively, so that the computational efficiency is improved than passive approaches. The proposed control strategy is verified by two types of time-varying formations of wheeled mobile robots, and the experimental results show that the proposed control strategy is effective for general time-variant consensus tracking problems of planar multi-agent systems with non-holonomic constraints in local and worldwide networked environments.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Ren W, Consensus strategies for cooperative control of vehicle formations, IET Control Theory & Applications, 2007, 1(2): 505–512.

    Article  MathSciNet  Google Scholar 

  2. Cao J, Wu Z H, and Peng L, Distributed event-triggered consensus tracking of second-order multiagent systems with a virtual leader, Chinese Physics B, 2016, 25(5): 100202.

    Google Scholar 

  3. Diao M, Duan Z, and Wen G, Consensus tracking of linear multi-agent systems under networked observability conditions, International Journal of Control, 2014, 87(8): 1478–1486.

    Article  MathSciNet  MATH  Google Scholar 

  4. Chu H, Cai Y, and Zhang W, Consensus tracking for multi-agent systems with directed graph via distributed adaptive protocol, Neurocomputing, 2015, 166: 8–13.

    Article  Google Scholar 

  5. Xie D and Cheng Y, Bounded consensus tracking for sampled-data second-rder multi-gent systems with fixed and Markovian switching topology, International Journal of Robust and Nonlinear Control, 2015, 25(2): 252–268.

    Article  MathSciNet  MATH  Google Scholar 

  6. Wu Z H, Peng L, and Xie L B, Stochastic bounded consensus tracking of leader follower multi-agent systems with measurement noises and sampled-data, Chinese Physics B, 2012, 21(12): 128902.

    Article  Google Scholar 

  7. Zhu B, Meng C, and Hu G, Robust consensus tracking of double integrator dynamics by bounded distributed control, International Journal of Robust and Nonlinear Control, 2016, 26(7): 1489–1511.

    Article  MathSciNet  MATH  Google Scholar 

  8. Das B, Subudhi B, and Pati B B, Cooperative formation control of autonomous underwater vehicles: An overview, International Journal of Automation and Computing, 2016, 13(3): 199–225.

    Article  Google Scholar 

  9. Ren R, Zhang Y Y, Luo X Y, et al, Automatic generation of optimally rigid formations using decentralized methods, International Journal of Automation and Computing, 2010, 7(4): 557–564.

    Article  Google Scholar 

  10. Das B, Subudhi B, and Pati B B, Cooperative formation control of autonomous underwater vehicles: An overview, International Journal of Automation and Computing, 2016, 13(3): 199–225.

    Article  Google Scholar 

  11. Cruz-Morales R D, Velasco-Villa M, and Castro-Linares R, Leader-follower formation for nonholonomic mobile robots: Discrete-time approach, International Journal of Advanced Robotic Systems, 2016, 13(46).

  12. Sun D, Wang C, Shang W, et al., A synchronization approach to trajectory tracking of multiple mobile robots while maintaining time-varying formations, IEEE Transactions on Robotics, 2009, 25(5): 1074–1086.

    Article  Google Scholar 

  13. Joordens M A and Jamshidi M, Consensus control for a system of underwater swarm robots, IEEE Systems Journal, 2010, 4(1): 65–73.

    Article  Google Scholar 

  14. Yang Z H, Song Y, Zheng M, et al., Consensus of multi-agent systems under switching agent dynamics and jumping network topologies, International Journal of Automation and Computing, 2016, 13(5): 438–446.

    Article  Google Scholar 

  15. Dong X, Zhou Y, and Ren Z, Time-varying formation control for unmanned aerial vehicles with switching interaction topologies, Control Engineering Practice, 2016, 46: 26–36.

    Article  Google Scholar 

  16. Dong X, Han L, and Li Q, Time-varying formation control for double-integrator multi-agent systems with jointly connected topologies, International Journal of Systems Science, 2015, 47(16): 1–10.

    MathSciNet  Google Scholar 

  17. Dong X, Sun C, and Hu G, Time-varying output formation control for linear multi-agent systems with switching topologies, International Journal of Robust and Nonlinear Control, 2016, 16(26): 3558–3579.

    Article  MathSciNet  MATH  Google Scholar 

  18. Dong X and Hu G, Time-varying formation control for general linear multi-agent systems with switching directed topologies, Automatica, 2016, 73: 47–55.

    Article  MathSciNet  MATH  Google Scholar 

  19. Tan C, Liu G P, and Shi P, Consensus of networked multi-agent systems with diverse time-varying communication delays, Journal of the Franklin Institute, 2015, 352(7): 2934–2950.

    Article  Google Scholar 

  20. Yang X R and Liu G P, Consensus of descriptor multi-agent systems via dynamic compensators, IET Control Theory & Applications, 2014, 8(6): 389–398.

    Article  MathSciNet  Google Scholar 

  21. Yang X R and Liu G P, Admissible consensus for networked singular multi-agent systems with communication delays, International Journal of Systems Science, 2017, 48(4): 705–714.

    Article  MathSciNet  MATH  Google Scholar 

  22. Xiao X and Mu X, Consensus of linear multi-agent systems with communication delays by using the information of second-order neighbours under intermittent communication topology, International Journal of Systems Science, 2017, 48(1): 200–208.

    Article  MathSciNet  MATH  Google Scholar 

  23. Han L, Dong X, and Li Q, Formation-containment control for second-order multi-agent systems with time-varying delays, Neurocomputing, 2016, 218: 439–447.

    Article  Google Scholar 

  24. Pei Y and Sun J, Consensus analysis of switching multi-agent systems with fixed topology and time-delay, Physica A: Statistical Mechanics and Its Applications, 2016, 463: 437–444.

    Article  MathSciNet  Google Scholar 

  25. Liu X, Dou L, and Sun J, Consensus for networked multi-agent systems with unknown communication delays, Journal of the Franklin Institute, 2016, 353(16): 4176–4190.

    Article  MathSciNet  MATH  Google Scholar 

  26. Yang A, Naeem W, Fei M, et al., Multiple robots formation manoeuvring and collision avoidance strategy, International Journal of Automation and Computing, 2016, 1–10.

    Google Scholar 

  27. Valero F, Mata V, and Besa A, Trajectory planning in workspaces with obstacles taking into account the dynamic robot behaviour, Mechanism and Machine Theory, 2006, 41(5): 525–536.

    Article  MathSciNet  MATH  Google Scholar 

  28. Wikipedia, Breadth-first search, available on https://en.wikipedia.org/wiki/Breadth-first search, November 10, 2016.

  29. Liu G P, Design and analysis of networked non-linear predictive control systems, IET Control Theory & Applications, 2015, 9(11): 1740–1745.

    Article  MathSciNet  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, 150080, China

    Jun Zhao

  2. School of Engineering, University of South Wales, Pontypridd, CF37 1DL, UK

    Guo-Ping Liu

Authors
  1. Jun Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Guo-Ping Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jun Zhao.

Additional information

This research was supported by the National Natural Science Foundation of China under Grant Nos. 61333033 and 61690212.

This paper was recommended for publication by Editor SUN Jian.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhao, J., Liu, GP. Time-Variant Consensus Tracking Control for Networked Planar Multi-Agent Systems with Non-Holonomic Constraints. J Syst Sci Complex 31, 396–418 (2018). https://doi.org/10.1007/s11424-017-6241-2

Download citation

  • Received:

  • Revised:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11424-017-6241-2

Keywords

Search

Navigation