收藏本站
收藏 | 投稿 | 手机打开
二维码
手机客户端打开本文

Energy-optimal problem of multiple nonholonomic wheeled mobile robots via distributed event-triggered optimization algorithm

张潆文  王金环  徐勇  杨德东  
【摘要】:The distributed event-triggered optimization problem for multiple nonholonomic robots has been studied to minimize the global battery energy consumption. Each robot possesses its own cost function which depends on the state of the hand position and represents battery energy consumption. By coordinate transformation, the dynamics of the hand positions can be formulated into two groups of first-order integrators. Then the distributed event-triggered optimization algorithm is designed such that the states of robots' hand positions exponentially converge to the optimizer of the global cost function.Meanwhile, the velocity and orientation of each robot are ensured to reach zero and a certain constant, respectively. Moreover, the inter-execution time is lower bounded and the Zeno behavior is therefore naturally avoided. Numerical simulations show the effectiveness of the proposed algorithm.

知网文化
【相似文献】
中国期刊全文数据库 前20条
1 张潆文;王金环;徐勇;杨德东;;Energy-optimal problem of multiple nonholonomic wheeled mobile robots via distributed event-triggered optimization algorithm[J];Chinese Physics B;2019年03期
2 Xia Jiqiang;Zhang Chuansen;Bai Ronggang;Xue Liqiang;;Real-time and reliability analysis of time-triggered CAN-bus[J];Chinese Journal of Aeronautics;2013年01期
3 Xiaoxiao Mi;Shaoyuan Li;;Event-triggered MPC Design for Distributed Systems With Network Communications[J];IEEE/CAA Journal of Automatica Sinica;2018年01期
4 ;Identification and analysis of secondary geological hazards triggered by a magnitude 8.0 Wenchuan Earthquake[J];遥感学报;2009年04期
5 王金环;许玉玲;张建;杨德东;;Time-varying formation for general linear multi-agent systems via distributed event-triggered control under switching topologies[J];Chinese Physics B;2018年04期
6 QIU Aibing;ZHANG Jing;JIANG Bin;GU Juping;;Event-triggered sampling and fault-tolerant control co-design based on fault diagnosis observer[J];Journal of Systems Engineering and Electronics;2018年01期
7 Mei Yu;Chuan Yan;Dongmei Xie;Guangming Xie;;Event-triggered Tracking Consensus with Packet Losses and Time-varying Delays[J];IEEE/CAA Journal of Automatica Sinica;2016年02期
8 Yangguang YU;Zhiwen ZENG;Zhongkui LI;Xiangke WANG;Lincheng SHEN;;Event-triggered encirclement control of multi-agent systems with bearing rigidity[J];Science China(Information Sciences);2017年11期
9 HUANG Na;DUAN ZhiSheng;ZHAO Yu;;Distributed consensus for multiple Euler-Lagrange systems: An event-triggered approach[J];Science China(Technological Sciences);2016年01期
10 Pei Jia;Fei Hao;Hao Yu;;Function Observer Based Event-triggered Control for Linear Systems with Guaranteed L_∞-Gain[J];IEEE/CAA Journal of Automatica Sinica;2015年04期
11 XING Mali;DENG Feiqi;;Event-Triggered Sampled-Data Consensus of Nonlinear Multi-Agent Systems with Control Input Losses[J];Journal of Systems Science & Complexity;2018年06期
12 曹劼;吴治海;彭力;;Distributed event-triggered consensus tracking of second-order multi-agent systems with a virtual leader[J];Chinese Physics B;2016年05期
13 LI Miao;LIU Zhongxin;CHEN Zengqiang;;Event-Triggered Consensus for Multiple Nonholonomic Systems[J];Journal of Systems Science & Complexity;2018年05期
14 Zhongxin LIU;Zengqiang CHEN;Zhuzhi YUAN;;EVENT-TRIGGERED AVERAGE-CONSENSUS OF MULTI-AGENT SYSTEMS WITH WEIGHTED AND DIRECT TOPOLOGY[J];Journal of Systems Science & Complexity;2012年05期
15 Zhaoxia Wang;Minrui Fei;Dajun Du;Min Zheng;;Decentralized Event-Triggered Average Consensus for Multi-Agent Systems in CPSs with Communication Constraints[J];IEEE/CAA Journal of Automatica Sinica;2015年03期
16 LIU Xiaoyu;SUN Jian;DOU Lihua;CHEN Jie;;Leader-Following Consensus for Discrete-Time Multi-Agent Systems with Parameter Uncertainties Based on the Event-Triggered Strategy[J];Journal of Systems Science & Complexity;2017年01期
17 Lu Kelin;Zhou Rui;Li Hao;;Event-triggered cooperative target tracking in wireless sensor networks[J];Chinese Journal of Aeronautics;2016年05期
18 Ming-jian Su;Wen Wan;Xue Yong;Xin-wei Lu;刘瑞源;瞿金清;;UREA-BASED POLYACETYLENES AS AN OPTICAL SENSOR FOR FLUORIDE IONS[J];Chinese Journal of Polymer Science;2013年04期
19 Yan Luming;Liang Huaguo;Huang Zhengfeng;Liu Yanbin;;A FAULT DETECTION SENSOR FOR CIRCUIT AGING USING DOUBLE-EDGE-TRIGGERED FLIP-FLOP[J];Journal of Electronics(China);2013年01期
20 Lei Zou;Zi-Dong Wang;Dong-Hua Zhou;;Event-based Control and Filtering of Networked Systems:A Survey[J];International Journal of Automation and Computing;2017年03期
中国重要会议论文全文数据库 前10条
1 Zhongda Lu;Guangtao Ran;Fengbin Zhang;Fengxia Xu;;An Improved Event-triggered H_∞ Filtering for Nonlinear Systems[A];第30届中国控制与决策会议论文集(4)[C];2018年
2 Chao Yang;Wei Yao;Jinyu Wen;;Event-triggered robust load frequency control of a multi-area power system including wind farms[A];第37届中国控制会议论文集(F)[C];2018年
3 Jianxi Zhang;Changfeng Zhang;;Self-triggered H_∞ fault detection for networked control systems with convex polytopic theory[A];第37届中国控制会议论文集(D)[C];2018年
4 Zhi Zheng;Xiaolong Zhang;Lei Jiao;;Optimized Deployment of Sensor Networks Based on Event-triggered Mechanism[A];第37届中国控制会议论文集(E)[C];2018年
5 Chuanbao Dong;Yuan Fan;Cheng Song;;Observer-based Output-feedback Control for Uncertain Linear Systems with Event-triggered[A];第30届中国控制与决策会议论文集(4)[C];2018年
6 Wenxiu Zhuang;Changyun Wen;Lei Wang;Zhitao Liu;Hongye Su;;Event-triggered Adaptive Control for a Class of Discrete-time Uncertain Nonlinear Systems[A];第30届中国控制与决策会议论文集(2)[C];2018年
7 Zhuoyu Li;Debao Chang;Dan Ma;;Event-triggered and Self-triggered Control for Networked Control Systems with Short Network-induced Delays:A Switched System Approach[A];第36届中国控制会议论文集(E)[C];2017年
8 Yingying Liu;Liangjie Li;Xiaojun Feng;;A Event-triggered Communication Scheme to Sampled-data Systems[A];第36届中国控制会议论文集(E)[C];2017年
9 Qing Gao;Bolun Li;Rundong Dou;;Stability Conditions for Event-triggered Control Systems with Limited Bandwidth and Network Delay[A];第30届中国控制与决策会议论文集(4)[C];2018年
10 Lina Rong;Yuteng Hua;;Distributed Multi-Agent Containment Control with Event-triggered Communications[A];第37届中国控制会议论文集(D)[C];2018年
中国博士学位论文全文数据库 前1条
1 Ahmed Kharidege;[D];北京化工大学;2017年
中国硕士学位论文全文数据库 前2条
1 王淞;D2 Delta Robot的控制系统研发[D];贵州大学;2018年
2 THANARAT CHAWAPHAN;[D];华南理工大学;2018年
 快捷付款方式  订购知网充值卡  订购热线  帮助中心
  • 400-819-9993
  • 010-62982499
  • 010-62783978