Global Consensus-Based Formation Control of Nonholonomic Mobile Robots With Time-Varying Delays and Without Velocity Measurements

• 成果类型: Article
• 署名作者: Romero, Jose Guadalupe; Nuno, Emmanuel; Restrepo, Esteban; Sarras, Ioannis
• 署名单位: Hong Kong Polytechnic University; Universidad de Guadalajara; Centre National de la Recherche Scientifique (CNRS); Inria; Universite de Rennes; Universite Paris Saclay; National Office for Aerospace Studies & Research (ONERA)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3264744
• 发表日期: 2024
• 页码: 355-362
• 关键词: robots; DELAYS; Robot kinematics; Vehicle dynamics; observers; Mobile robots; kinematics; consensus; nonholonomic robots; PD controller; velocity observer

摘要

In this article, we propose a solution to the full-consensus-based formation problem for torque-controlled nonholonomic mobile robots under time-varying communication delays and without velocity measurements. Under the assumptions of static and undirected communication topologies, and smooth and bounded delays, we propose a distributed smooth, time-varying control law which achieves the goal of acquiring a global formation pattern in a common consensus point for both position and orientation. The controller is a combination of a simple proportional-plus-damping (PD) scheme and a simple globally exponentially convergent velocity observer. Consensus is reached independently of all initial conditions. Realistic simulations in the Gazebo-robot operating system environment illustrate the effectiveness of the proposed algorithm and the robustness with respect to measurement noise, nonsmooth delays, and uncertain dynamics.