Distributed full-consensus control of nonholonomic vehicles under non-differentiable measurement delays

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

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

We address the problem of consensus control of second-order nonholonomic systems via distributed control under the assumption that each vehicle receives measured states from a set of neighbors, with a bounded, time-varying, but non-differentiable delay. The controller that we propose guarantees full consensus, in the sense that a common consensus point may be reached both in the Cartesian positions on the plane and the orientations of all robots referred to a fixed frame. Our controller is smooth, hence time-varying. Notably, it relies on a property of persistency of excitation. Our main statement guarantees uniform global asymptotic stability. Also, we provide some simulation results to illustrate our theoretical findings.

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

Domaines: Automatique

Mohamed Maghenem, Antonio Loria, Emmanuel Nuno, Elena Panteley. Distributed full-consensus control of nonholonomic vehicles under non-differentiable measurement delays. IEEE Control Systems Letters, 2021, 5 (1), pp.97-102. ⟨10.1109/lcsys.2020.3000676⟩. ⟨hal-02901395⟩