Robust formation control for networked robotic systems using Negative Imaginary dynamics

被引：34
作者：
Hu, Junyan [1 ]
Lennox, Barry [2 ]
Arvin, Farshad [2 ]
机构：
[1] UCL, Dept Comp Sci, London WC1E 6BT, England
[2] Univ Manchester, Dept Elect & Elect Engn, Manchester M13 9PL, Lancs, England
来源：
AUTOMATICA | 2022年 / 140卷
基金：
英国工程与自然科学研究理事会;
关键词：
Multi-robot systems; Swarm robotics; Negative Imaginary systems; Fault-tolerant control; Robustness; VARYING FORMATION CONTROL; COORDINATED CONTROL; DESIGN;
D O I：
10.1016/j.automatica.2022.110235
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a consensus-based formation tracking scheme for multi-robot systems utilizing the Negative Imaginary (NI) theory. The proposed scheme applies to a class of networked robotic systems that can be modelled as a group of single integrator agents with stable uncertainties connected via an undirected graph. NI/SNI property of networked agents facilitates the design of a distributed Strictly Negative Imaginary (SNI) controller to achieve the desired formation tracking. A new theoretical proof of asymptotic convergence of the formation tracking trajectories is derived based on the integral controllability of a networked SNI systems. The proposed scheme is an alternative to the conventional Lyapunov-based formation tracking schemes. It offers robustness to NI/SNI-type model uncertainties and fault-tolerance to a sudden loss of robots due to hardware/communication fault. The feasibility and usefulness of the proposed formation tracking scheme were validated by lab-based real-time hardware experiments involving miniature mobile robots.(C) 2022 Elsevier Ltd. All rights reserved.
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页数：9
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