Leader-Follower Consensus of Unicycles With Communication Range Constraints via Smooth Time-Invariant Feedback

被引：5
|
作者：
Restrepo, Esteban [1 ,2 ]
Loria, Antonio [3 ,4 ]
Sarras, Ioannis [1 ]
Marzat, Julien [1 ]
机构：
[1] Univ Paris Saclay, ONERA, DTIS, F-91123 Palaiseau, France
[2] Univ Paris Saclay, L2S Cent Supelec, Saclay, France
[3] CNRS, L2S, F-91192 Gif Sur Yvette, France
[4] Univ Paris Saclay, Cent Supelec, F-91192 Gif Sur Yvette, France
来源：
IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 02期
关键词：
Formation control; persistency of excitation; Lyapunov design; nonholonomic systems; LYAPUNOV FUNCTIONS; TRACKING CONTROL; SYSTEMS;
D O I：
10.1109/LCSYS.2020.3005181
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We solve the full-consensus problem (in position and orientation) with connectivity maintenance for multiple nonholonomic vehicles in a leader-follower configuration. We rely on a polar-coordinates based model which is more natural for the problem setting. The proposed control law is smooth (in the domain of definition) time-invariant and uses only relative measurements, making it more suited for implementation. We establish asymptotic convergence to the consensus manifold as well as connectivity maintenance using the Lyapunov's first method and cascaded systems theory. In addition, we illustrate our theoretical contributions experimentally.
引用
收藏
页码：737 / 742
页数：6
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