scispace - formally typeset
Search or ask a question
Author

Zhaoxia Peng

Bio: Zhaoxia Peng is an academic researcher from École centrale de Lille. The author has contributed to research in topics: Lyapunov function & Consensus. The author has an hindex of 6, co-authored 6 publications receiving 401 citations. Previous affiliations of Zhaoxia Peng include Centre national de la recherche scientifique.

Papers
More filters
Journal ArticleDOI
TL;DR: This paper investigates the leader-follower formation control problem for nonholonomic mobile robots based on a bioinspired neurodynamics based approach, and proposes an auxiliary angular velocity control law to guarantee the global asymptotic stability of the followers and to further guarantee the local asymPTotic Stability of the entire formation.

140 citations

Journal ArticleDOI
TL;DR: A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem with rigorous proofs provided by using graph, matrix, and Lyapunov theories.
Abstract: In this paper, the distributed formation control problem for multiple nonholonomic mobile robots using consensus-based approach is considered. A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Distributed control laws are developed for achieving the formation control objectives: a group of nonholonomic mobile robots at least exponentially converge to a desired geometric pattern with its centroid moving along the specified reference trajectory. Rigorous proofs are provided by using graph, matrix , and Lyapunov theories. Simulations are also given to verify the effectiveness of the theoretical results.

130 citations

Journal ArticleDOI
TL;DR: Two distributed control protocols are proposed under fixed undirected communication topology and fixed directed communicationTopology for leader-following consensus problem for second-order multi-agent systems with nonlinear inherent dynamics.
Abstract: In this paper, the leader-following consensus problem for second-order multi-agent systems with nonlinear inherent dynamics is investigated. Two distributed control protocols are proposed under fixed undirected communication topology and fixed directed communication topology. Some sufficient conditions are obtained for the states of followers converging to the state of virtual leader globally exponentially. Rigorous proofs are given by using graph theory, matrix theory and Lyapunov theory. Simulations are also given to verify the effectiveness of the theoretical results.

87 citations

Journal ArticleDOI
TL;DR: In this paper, the consensus tracking problem is respectively considered under fixed and switching communication topologies and some corresponding sufficient conditions are obtained to guarantee the states of followers can converge to the state of the virtual leader in finite time.
Abstract: This paper investigates the consensus tracking problem for nonlinear multi-agent systems with a time-varying reference state. The consensus reference is taken as a virtual leader, whose output is only its position information that is available to only a subset of a group of followers. The dynamics of each follower consists of two terms: nonlinear inherent dynamics and a simple communication protocol relying only on the position of its neighbours. In this paper, the consensus tracking problem is respectively considered under fixed and switching communication topologies. Some corresponding sufficient conditions are obtained to guarantee the states of followers can converge to the state of the virtual leader in finite time. Rigorous proofs are given by using graph theory, matrix theory, and Lyapunov theory. Simulations are presented to illustrate the theoretical analysis.

37 citations

Journal ArticleDOI
TL;DR: A set of decentralized control laws for the cohesive motion of threedimensional multi-agent formations with a point-agent system model is proposed, based on which the shape of the formation is maintained during continuous motion, which can efficiently avoid inter-agent collision.
Abstract: This paper provides a practicable framework for planning and control of three-dimensional multi-agent formations. The formation path planning is performed by using the A∗ search algorithm coupled with an optimizing algorithm to generate a collision-free and deadlock-free feasible path. For the formation motion control, we propose a set of decentralized control laws for the cohesive motion of threedimensional multi-agent formations with a point-agent system model. Based on these control laws, the shape of the formation is maintained during continuous motion, which can efficiently avoid inter-agent collision. Rigorous proofs regarding the stability and convergence of proposed control laws are given by using Lyapunov theory and some geometric relations between agents. The effectiveness of the proposed framework is demonstrated via simulation results.

23 citations


Cited by
More filters
Journal ArticleDOI
TL;DR: A neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot and guaranteed performance is achieved at both kinematic and dynamic levels.
Abstract: In this paper, a neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot. Guaranteed performance of the telerobot control system is achieved at both kinematic and dynamic levels. At kinematic level, automatic collision avoidance is achieved by the control design at the kinematic level exploiting the joint space redundancy, thus the human operator would be able to only concentrate on motion of robot’s end-effector without concern on possible collision. A posture restoration scheme is also integrated based on a simulated parallel system to enable the manipulator restore back to the natural posture in the absence of obstacles. At dynamic level, adaptive control using radial basis function NNs is developed to compensate for the effect caused by the internal and external uncertainties, e.g., unknown payload. Both the steady state and the transient performance are guaranteed to satisfy a prescribed performance requirement. Comparative experiments have been performed to test the effectiveness and to demonstrate the guaranteed performance of the proposed methods.

269 citations

Journal ArticleDOI
TL;DR: A distributed control protocol, based on local information, is proposed to ensure the convergence of the tracking errors in finite time to achieve fixed-time consensus for first-order multi-agent systems with unknown inherent non-linear dynamics.
Abstract: This study focuses on the design of fixed-time consensus for first-order multi-agent systems with unknown inherent non-linear dynamics. A distributed control protocol, based on local information, is proposed to ensure the convergence of the tracking errors in finite time. Some conditions are derived to select the controller gains in order to obtain a prescribed convergence time regardless of the initial conditions. Simulations are performed to validate the theoretical results.

221 citations

Journal ArticleDOI
TL;DR: A novel computer based algorithm that solves the problem of USV formation path planning using the fast marching (FM) method and has been specifically designed for operation in dynamic environments using the novel constrained FM method.

196 citations

Journal ArticleDOI
TL;DR: This paper investigates the leader-follower formation control problem for nonholonomic mobile robots based on a bioinspired neurodynamics based approach, and proposes an auxiliary angular velocity control law to guarantee the global asymptotic stability of the followers and to further guarantee the local asymPTotic Stability of the entire formation.

140 citations

Journal ArticleDOI
TL;DR: A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem with rigorous proofs provided by using graph, matrix, and Lyapunov theories.
Abstract: In this paper, the distributed formation control problem for multiple nonholonomic mobile robots using consensus-based approach is considered. A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Distributed control laws are developed for achieving the formation control objectives: a group of nonholonomic mobile robots at least exponentially converge to a desired geometric pattern with its centroid moving along the specified reference trajectory. Rigorous proofs are provided by using graph, matrix , and Lyapunov theories. Simulations are also given to verify the effectiveness of the theoretical results.

130 citations