• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Advanced Robotics: The International Journal of the Robotics Society of Japan >Near-optimal sliding mode control for multi-robot consensus under dynamic events
【24h】

Near-optimal sliding mode control for multi-robot consensus under dynamic events

机译：Near-optimal sliding mode control for multi-robot consensus under dynamic events

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相关主题

摘要

We propose a continuous-time design for finite-time consensus control for multi-robot system using event-based near-optimal sliding mode control. The system has a leader–follower framework prone to external bounded disturbance. The proposed design comprises of three parts: (i) formulation of control-affine dynamics, (ii) design a triggering condition for control updates that guarantee stability and consensus in the system, and (iii) design a near-optimal sliding mode control using neural-network based approximate dynamic programming. We derive a bound on inter-event time that guarantees admissibility of updated control input values. We finally validate the efficacy of proposed design through real-time experiments using three Pioneer P3-DX mobile robots (leader and two followers) and comparative analyses with other state-of-the-art approaches. The control updates of follower-1 and follower-2 robots are approximately and , respectively, that reduce the computational burden in multi-robot framework.

著录项

获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号