Output-feedback consensus-formation control of nonholonomic vehicles with input constraints and time-varying delays.
Résumé
We provide a solution to the consensusbased formation control problem of multi-agent nonholonomic vehicles, under the assumption that the magnitudes of control inputs must satisfy certain pre-imposed bounds, to avoid saturation of the actuators. Also, we assume that the communications are affected by time-varying timedelays and the vehicles lack velocity measurements. The desired control objective is that all the vehicles converge to a given desired formation and that they reach consensus on the localization of the center of such formation and on their orientations. The control architecture exploits several features. From a control viewpoint, the systems' dynamics are split into their angular-and linear-motion parts, so each of these is driven by a separate distributed dynamic output-feedback controller, passively interconnected to the plant via a virtual spring. From a network-topology viewpoint the overall networked system contains two layers of interconnections with undirected graphs. Finally, from an analytical viewpoint, each vehicle-controller closed-loopsystem may be regarded as a cascade with a δ-persistently exciting interconnection, which ensures the achievement of the control goal, in spite of the nonholonomic constraints.
Domaines
AutomatiqueOrigine | Fichiers produits par l'(les) auteur(s) |
---|