Generalized Homogeneous Formation Control for Unicycle Multi-Agent Systems

被引：0

作者：

Li, Min ^{[1
]}

Rios, Hector ^{[2
,3
]}

Polyakov, Andrey ^{[1
]}

Zheng, Gang ^{[1
]}

Wang, Siyuan ^{[4
]}

机构：

[1] Univ Lille, Inria, Cent Lille, CNRS,UMR 9189,CRIStAL, Parc Sci Haute Borne 40,Ave Halley,Bat A.PkPlaza, F-59650 Villeneuve Dascq, France

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

[3] CONAHCYT, Investigadoras & Investigadores Mexico, Ciudad De Mexico 03940, Mexico

[4] Beihang Univ, State Key Lab Virtual Real Technol & Syst, Beijing, Peoples R China

来源：

GUIDANCE NAVIGATION AND CONTROL | 2024年

关键词：

Homogeneous control; finite-time stability; robustness; formation control; unicycle mobile robots; multi-agent systems; FINITE-TIME STABILITY; CONTROL DESIGN; STABILIZATION; BEHAVIOR;

D O I：

10.1142/S2737480724500213

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 for unicycle multi-agent systems is considered. The design of a generalized homogeneous leader-follower formation control protocol is studied which shows that such a control protocol can be obtained by "upgrading" from the classical linear control. With this proposed control protocol, a finite-time stability of the formation error is ensured if the acceleration of the leader is bounded by some known value. In addition, if the leader acceleration is unknown but bounded, the robust formation is achieved by ensuring the formation error's input-to-state stability. Simulations are carried out to verify the effectiveness of the proposed control protocol.

引用

页数：21

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