Consensus-based Formation Control of Multiple Nonholonomic Vehicles under Input Constraints

Emmanuel Nuno (1) , Antonio Loria (2) , Angel Paredes (1) , Tonatiuh Hernandez (1)

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

We address the open problem of consensusbased formation control of nonholonomic multiagent vehicles with pre-imposed input constraints. That is the problem of stabilizing a group of second-order differential-drive nonholonomic robots, making them acquire a determined formation pattern around a non pre-specified point on the plane and a common non pre-specified orientation. This problem is also known as leaderless full consensus. Our controller is smooth and time-varying, and fully distributed. Its design is a natural modification of another controller proposed earlier, which relies on proportional feedback, damping injection, and a smooth time-varying term that injects persistency of excitation in the system to overcome the effects of nonholonomicity. It is assumed that the robots communicate over a network with an undirectedgraph topology.

Mots clés: Formation control; persistency of excitation; nonholonomic systems; autonomous vehicles

Domaines: Automatique

Emmanuel Nuno, Antonio Loria, Angel Paredes, Tonatiuh Hernandez. Consensus-based Formation Control of Multiple Nonholonomic Vehicles under Input Constraints. IEEE Control Systems Letters, 2022, 6, pp.2767-2772. ⟨10.1109/LCSYS.2022.3176195⟩. ⟨hal-03788862⟩