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Pré-Publication, Document De Travail (Preprint/Prepublication) Année : 2022

Bounded Output-Feedback Consensus-based Formation Control of Nonholonomic Vehicles

Emmanuel Nuño
Antonio Loria
Angel Paredes

Résumé

In multi-agent systems, most commonly, consensus consists in all agents converging to a common equilibrium point. For nonholonomic vehicles, which move on a Cartesian plane and occupy a physical space, it is more appropriate to speak of consensus-based formation, which implies that the vehicles are required to converge to a relative position in a given formation while, distributively, agreeing on the center of such formation and on their orientation. In this paper we solve such a problem via a smooth, time-varying, output-feedback control; more precisely, without velocity measurements. In addition, and this is our main contribution, the controller is designed to satisfy pre-imposed bounds to avoid input saturation. To the best of the authors' knowledge this is the first controller of its kind in the context described.

Domaines

Automatique
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Dates et versions

hal-03870010 , version 1 (24-11-2022)

Identifiants

  • HAL Id : hal-03870010 , version 1

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Emmanuel Nuño, Antonio Loria, Angel Paredes, Tonatiuh Hernandez. Bounded Output-Feedback Consensus-based Formation Control of Nonholonomic Vehicles. 2022. ⟨hal-03870010⟩
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