Consensus-based formation control of networked nonholonomic vehicles with delayed communications

Mohamed Maghenem (1) , Antonio Loria (1) , Emmanuel Nuno (2) , Elena Panteley (1)

1 L2S - Laboratoire des signaux et systèmes
2 Universidad de Guadalajara

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, δ−persistently-exciting, controller. It is assumed that the communication between agents is affected by time-varying, non-differentiable, communication delays and uniform global asymptotic stability is demonstrated. This goes beyond the more-often encountered property of non-uniform convergence and, what is more, for the first time in the literature, a strict Lyapunov-Krasovskiȋ functional is provided.

Mots clés: Index Terms-Formation control; persistency of excitation; Lyapunov design; nonholonomic systems

Domaines: Automatique; Systèmes et contrôle [cs.SY]

Mohamed Maghenem, Antonio Loria, Emmanuel Nuno, Elena Panteley. Consensus-based formation control of networked nonholonomic vehicles with delayed communications. IEEE Transactions on Automatic Control, 2020, 66 (5), pp.2242-2249. ⟨10.1109/tac.2020.3005668⟩. ⟨hal-02901345⟩