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Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2022

Observerless Output-feedback Consensus-based Formation Control of 2nd-order Nonholonomic Systems

Antonio Loria
Elena Panteley

Résumé

We present a solution to the problem of formation consensus control of second-order nonholonomic systems via output feedback. We contribute with a distributed consensus controller for force-controlled nonholonomic systems under the assumption that the forward and angular velocities are not measurable. Our main statement establishes uniform global asymptotic stability for the closed-loop system; this guarantees robustness with respect to bounded disturbances, in the sense of Malkin's total stability, also known as local input-to-state stability.
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hal-03752301 , version 1 (16-08-2022)

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Antonio Loria, Emmanuel Nuno, Elena Panteley. Observerless Output-feedback Consensus-based Formation Control of 2nd-order Nonholonomic Systems. IEEE Transactions on Automatic Control, 2022, 67 (12), pp.6934-6939. ⟨10.1109/TAC.2021.3136140⟩. ⟨hal-03752301⟩
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