Consensus-Based Formation Control of Multiple Nonholonomic Vehicles Under Input Constraints - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2022

Consensus-Based Formation Control of Multiple Nonholonomic Vehicles Under Input Constraints

Emmanuel Nuno
Antonio Loria
Angel Paredes

Résumé

We address the open problem of consensus-based formation control of nonholonomic multiagent vehicles with pre-imposed input constraints. That is the problem of stabilizing a group of second-order differential-drive nonholonomic robots, making them acquire a determined formation pattern around a non pre-specified point on the plane and a common non prespecified orientation. This problem is also known as leaderless full consensus. Our controller is smooth and time-varying, and fully distributed. Its design is a natural modification of another controller proposed earlier, which relies on proportional feedback, damping injection, and a smooth time-varying term that injects persistency of excitation in the system to overcome the effects of nonholonomicity. It is assumed that the robots communicate over a network with an undirected-graph topology.
Fichier principal
Vignette du fichier
lcss_22-0109_4_cdc_compressed.pdf (1.17 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04297726 , version 1 (21-11-2023)

Identifiants

  • HAL Id : hal-04297726 , version 1

Citer

Emmanuel Nuno, Antonio Loria, Angel Paredes, Tonatiuh Hernandez. Consensus-Based Formation Control of Multiple Nonholonomic Vehicles Under Input Constraints. 61st IEEE Conference on Decision and Control (CDC 2022), Dec 2022, Cancun, Mexico. Published in IEEE Control Systems Letters, vol. 6, no. 3, pp. 2767--2772. ⟨hal-04297726⟩
12 Consultations
3 Téléchargements

Partager

Gmail Facebook X LinkedIn More