Stability Analysis of Gradient-Based Distributed Formation Control With Heterogeneous Sensing Mechanism: The Three Robot Case

• 成果类型: Article
• 署名作者: Chan, Nelson P. K.; Jayawardhana, Bayu; de Marina, Hector Garcia
• 署名单位: Delft University of Technology; University of Groningen; University of Granada
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3115881
• 发表日期: 2022
• 页码: 4285-4292
• 关键词: robots; Robot sensing systems; shape; sensors; Robot kinematics; stability analysis; asymptotic stability; Formation control; gradient-based control design; heterogeneous sensing

摘要

This article focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses a heterogeneous sensing mechanism. For the setups consisting of three robots, we show that the use of heterogeneous gradient-based control laws can give rise to undesired invariant sets where a distorted formation shape is possibly moving at a constant velocity. We guarantee local asymptotic stability for the correct and desired formation shape. For the setup with one distance and two bearing robots, we identify the conditions such that an incorrect moving formation is locally attractive.