Symmetric Consensus Tracking in Nonholonomic Mobile Multirobot Systems

This paper investigates the symmetric consensus tracking problem of nonholonomic mobile multirobot systems (NMMRSs). The proposed control scheme is developed in cooperative-competitive network. A novel auxiliary reference vector which describes the local communication interaction among NMMRSs is introduced into the protocol design. Combining a kinematic and torque controller, symmetric consensus tracking can be achieved asymptotically in the network topology with parameter uncertainties. In the stability convergence analysis of the networked closed-loop system, coordinate transformation technique plays an important role. Finally, the effectiveness of the desired symmetric consensus tracking problem is verified by numerical simulations.