Leaderless consensus of ring-networked mobile robots via distributed saturated control

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)10723 - 10731
Journal / PublicationIEEE Transactions on Industrial Electronics
Issue number12
Online published24 Dec 2019
Publication statusPublished - Dec 2020


In this paper, the global consensus problem of ring-networked nonholonomic systems with saturated input is considered. Based on the Lyapunov method and appropriate related technologies, the stabilization of the nonholonomic systems is achieved towards consensus. Assuming that each agent has its own position informa- tion available in the global coordinates and can obtain the position information of its neighbors, global consensus is achieved asymptotically by using the designed distribut- ed saturated controllers. Subject-predicate-complement, a wireless local area network is set up with a local com- puter as the controller, having data transmitted through the wireless network so that the movement of the robots can be controlled. Consistent simulation and experiment results are presented to illustrate the practical design and theoretical analysis.

Research Area(s)

  • ring network, Saturated control, wheeled mobile robot