Observerless Output-Feedback Consensus-Based Formation Control of Second-Order Nonholonomic Systems

• 成果类型: Article
• 署名作者: Loria, Antonio; Nuno, Emmanuel; Panteley, Elena
• 署名单位: Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS); Universidad de Guadalajara; ITMO University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3136140
• 发表日期: 2022
• 页码: 6934-6939
• 关键词: CONSENSUS; Formation control; nonholonomic systems; Output feedback; persistency of excitation

摘要

We present a solution to the problem of formation consensus control of second-order nonholonomic systems via output feedback. We contribute with a distributed consensus controller for force-controlled nonholonomic systems under the assumption that the forward and angular velocities are not measurable. Our main statement establishes uniform global asymptotic stability for the closed-loop system; this guarantees robustness with respect to bounded disturbances, in the sense of Malkin's total stability, also known as local input-to-state stability.