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Communication Dans Un Congrès Année : 2023

A δ-persistently-exciting formation controller for non-holonomic systems over directed graphs

Résumé

We study a formation control problem of nonholonomic vehicles which consists in making a group of them gather around a given rendezvous set-point and acquire a common orientation. This task may be regarded as part of a more complex maneuver, e.g., requiring the robots to advance in a scouting mission on a path composed of straight lines and occasional turns. The control approach relies on addressing separately the problems of stabilization (on the plane) and of orientation consensus. For the former we use individual controllers involving smooth timevarying terms and for the latter we use distributed consensus control, under the assumption that the robots form a directed graph that contains a spanning tree.

Domaines

Automatique
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Dates et versions

hal-04266237 , version 1 (31-10-2023)
hal-04266237 , version 2 (21-11-2023)

Identifiants

  • HAL Id : hal-04266237 , version 2

Citer

Maitreyee Dutta, Antonio Loria, Elena Panteley, Sukumar Srikant, Emmanuel Nuño. A δ-persistently-exciting formation controller for non-holonomic systems over directed graphs. 62nd IEEE Conference on Decision and Control (CDC 2023), Dec 2023, Singapore (SG), Singapore. Published in IEEE Control Systems Letters, vol. 7, pp. 2587-2592, 2023. ⟨hal-04266237v2⟩
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