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Communication Dans Un Congrès Année : 2022

Leader-Follower Consensus Formation Control of Nonholonomic Vehicles with Input Constraints

Emmanuel Nuño
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Antonio Loria
Elena Panteley

Résumé

This paper proposes a solution for the leader-follower consensus formation control problem of nonholonomic vehicles that exhibit input constraints. In this consensus problem, the position and the orientation of all the vehicles has to be regulated at a desired equilibrium, hence this pertains to a stabilization scenario. Therefore, in order to satisfy Brockett's theorem, the controller has to be designed to be either discontinuous or time-varying. The proposed scheme is a smooth bounded Proportional plus damping injection controller that incorporates a persistency of excitation term. A comparative simulation analysis with an unbounded control scheme is also provided.
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Dates et versions

hal-03869741 , version 1 (30-10-2023)

Identifiants

  • HAL Id : hal-03869741 , version 1

Citer

Emmanuel Nuño, Antonio Loria, Angel Paredes, Tonatiuh Hernández, Elena Panteley. Leader-Follower Consensus Formation Control of Nonholonomic Vehicles with Input Constraints. Congreso Nacional de Control Automático, Oct 2022, Tuxtla Gutiérrez, Chiapas, MEX, France. https://revistadigital.amca.mx/wp-content/uploads/2022/11/0062.pdf. ⟨hal-03869741⟩
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