Leaderless consensus formation control of cooperative multi-agent vehicles without velocity measurements - Archive ouverte HAL
Journal Articles IEEE Control Systems Letters Year : 2022

Leaderless consensus formation control of cooperative multi-agent vehicles without velocity measurements

Emmanuel Nuño
Antonio Loria
Elena Panteley

Abstract

We address the full-consensus problem for multiagent nonholonomic systems via output feedback. That is, consensus both in position and orientation considering the latter as the measured output. The controller is dynamic, but it does not rely on a velocity estimator, it relies on a dynamic extension that has a clear physical interpretation, as a mechanical system itself. Roughly speaking, it is showed that the consensus problem may be solved indirectly, by achieving consensus of the controllers themselves and, then, coupling each of these to each vehicle, via a virtual spring. Simulation tests are provided in the present manuscript to show the performance of our proposal.
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Dates and versions

hal-03442759 , version 1 (23-11-2021)

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Emmanuel Nuño, Antonio Loria, Elena Panteley. Leaderless consensus formation control of cooperative multi-agent vehicles without velocity measurements. IEEE Control Systems Letters, 2022, 6, pp.902-907. ⟨10.1109/LCSYS.2021.3087095⟩. ⟨hal-03442759⟩
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