| Autor: |
Shuntaro Takekuma, Shun-Ichi Azuma, Ryo Ariizumi, Toru Asai |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
IEEE Access, Vol 11, Pp 36176-36183 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2023.3264562 |
| Popis: |
A hopping rover is a mobile robot developed for exploring low-gravity planets. The movement is based on hopping motion for moving on rough ground in low gravity. For efficient exploration, it is desirable to construct a cooperative system with multiple rovers. Such a system is called here the multi-hopping-rover systems. This paper addresses a consensus control problem for the multi-hopping-rover systems, where the hopping rovers involve uncertain dynamics caused by hopping motion. By representing the dynamics by a stochastic model and focusing on the dynamics of the disagreement, we present a condition on the control gain so that the system converges to consensus in a mean-square sense. The result is demonstrated by numerical simulation. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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