Consensus-Based Formation Control of Networked Nonholonomic Vehicles With Delayed Communications

• 成果类型: Article
• 署名作者: Maghenem, Mohamed; Loria, Antonio; Nuno, Emmanuel; Panteley, Elena
• 署名单位: University of California System; University of California Santa Cruz; 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.2020.3005668
• 发表日期: 2021
• 页码: 2242-2249
• 关键词: Delays; asymptotic stability; Vehicle dynamics; CONVERGENCE; robots; Network topology; kinematics; Formation control; lyapunov design; nonholonomic systems; persistency of excitation

摘要

For a network of nonholonomic vehicles communicating according to an undirected connected graph, a consensus-based formation control problem is solved via a smooth time-varying, proportional-derivative, delta-persistently-exciting, controller. It is assumed that the communication among agents is affected by time-varying, nondifferentiable, communication delays and uniform global asymptotic stability is demonstrated. This goes beyond the more-often encountered property of nonuniform convergence and, what is more, for the first time in the literature, a strict Lyapunov-Krasovskii functional is provided.