A generalized homogeneity-based formation control for perturbed unicycle multi-agent systems

被引：0

作者：

Li, Min ^{[1
]}

Rios, Hector ^{[2
,4
]}

Gutierrez-Martinez, Susana V. ^{[3
]}

Polyakov, Andrey ^{[1
]}

Zheng, Gang ^{[1
]}

Dzul, Alejandro ^{[2
]}

机构：

[1] Univ Lille, CNRS, Cent Lille, UMR 9189 CRIStAL,Inria, F-59650 Lille, France

[2] Tecnol Nacl Mexico, IT La Laguna, Torreon 27000, Coahuila, Mexico

[3] Univ Autonoma Nuevo Leon, Monterrey 66451, Nuevo Leon, Mexico

[4] CONAHCYT, Mexico City 03940, DF, Mexico

来源：

CONTROL ENGINEERING PRACTICE | 2024年 / 152卷

关键词：

Formation control; Unicycle mobile robots; Homogeneous control; Input-to-state stability; FINITE-TIME STABILITY; CONTROL DESIGN; MOBILE ROBOTS; FORMATION TRACKING;

D O I：

10.1016/j.conengprac.2024.106047

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the formation control problem is considered for unicycle multi-agent systems whose kinematic models contain some external perturbations. The approach to addressing the problem involves the development of a homogeneity-based leader-follower formation control protocol, which takes into account bounded perturbations. It is shown that such a control protocol can be obtained if there is an external supervisor monitoring the group and broadcasting a limited amount of data to followers. Simulations as well as experimental results are performed to illustrate the effectiveness of the proposed control protocol using the QBot2 unicycle mobile robot.

引用

页数：11

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