Consensus-based Formation Control of Nonholonomic Robots using a Strict Lyapunov Function
Overview & Synopsis
This paper presents a novel decentralized consensus-based formation controller that considers both, the kinematic and the dynamic model, to uniformly and asymptotically drive a network composed of N nonholonomic mobile robots to a desired formation with a given orientation. The network is modeled as an undirected, static and connected graph. The controller is a smooth time-varying δ−persistently exciting controller of the Proportional-Derivative type. The stability analysis is carried out using a novel strict Lyapunov function. Simulations, using a network with six agents, illustrate our theoretical contributions.
Indexed from repository: HAL Open Science
(
hal.science)
Keyboard Shortcuts:
← / → for pages • + / - for zoom • 0 to fit width
Powered by Mozilla PDF.js v3.11
Document Information
| Document Title | Consensus-based Formation Control of Nonholonomic Robots using a Strict Lyapunov Function |
|---|---|
| Author / Organization | Mohamed Maghenem, Abraham Bautista-Castillo, Emmanuel Nuño, Antonio Loria, Elena Panteley |
| Subject & Discipline | Multidisciplinary Academic Open Research |
| Categories | Science & Mathematics |
| Publication Year | 2017 |
| License / Rights | Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
HAL Open Science
(hal.science)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-16759 |
| Original Source Link | Visit Source Page on hal.science » |