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Communication Dans Un Congrès Année : 2017

Consensus-based Formation Control of Nonholonomic Robots using a Strict Lyapunov Function

Abraham Bautista-Castillo
  • Fonction : Auteur
Emmanuel Nuño
Antonio Loria
Elena Panteley

Résumé

This paper presents a novel decentralized consensus-based formation controller that considers both, the kinematic and the dynamic model, to uniformly and asymptotically drive a network composed of N nonholonomic mobile robots to a desired formation with a given orientation. The network is modeled as an undirected, static and connected graph. The controller is a smooth time-varying δ−persistently exciting controller of the Proportional-Derivative type. The stability analysis is carried out using a novel strict Lyapunov function. Simulations, using a network with six agents, illustrate our theoretical contributions.

Domaines

Automatique
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Dates et versions

hal-01744950 , version 1 (05-03-2020)

Identifiants

Citer

Mohamed Maghenem, Abraham Bautista-Castillo, Emmanuel Nuño, Antonio Loria, Elena Panteley. Consensus-based Formation Control of Nonholonomic Robots using a Strict Lyapunov Function. IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.2439 - 2444, ⟨10.1016/j.ifacol.2017.08.406⟩. ⟨hal-01744950⟩
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