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Consensus-based Formation Control of Nonholonomic Robots using a Strict Lyapunov Function

Abstract : This paper presents a novel decentralized consensus-based formation controller that considers both, the kinematic and the dynamic model, to uniformly and asymptotically drive a network composed of N nonholonomic mobile robots to a desired formation with a given orientation. The network is modeled as an undirected, static and connected graph. The controller is a smooth time-varying δ−persistently exciting controller of the Proportional-Derivative type. The stability analysis is carried out using a novel strict Lyapunov function. Simulations, using a network with six agents, illustrate our theoretical contributions.
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https://hal.archives-ouvertes.fr/hal-01744950
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Submitted on : Thursday, March 5, 2020 - 10:54:46 AM
Last modification on : Wednesday, September 16, 2020 - 4:50:52 PM
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Mohamed Maghenem, Abraham Bautista-Castillo, Emmanuel Nuño, Antonio Loria, Elena Panteley. Consensus-based Formation Control of Nonholonomic Robots using a Strict Lyapunov Function. IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.2439 - 2444, ⟨10.1016/j.ifacol.2017.08.406⟩. ⟨hal-01744950⟩

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