Consensus-Based Formation Control of Networked Nonholonomic Vehicles With Delayed Communications

Abstract

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, proportionalderivative, 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 nonuniform convergence and, what is more, for the first time in the literature, a strict Lyapunov-Krasovskiȋ functional is provided.

Robust distributed formation control with prescribed performance for nonlinear multi‐agent systems subjected to compound disturbances

“…Furthermore, some results of consensus control can also be extended to formation control by setting the output offset of the agent, which is also known as consensus-based formation. [31][32][33] However, none of the above results consider the problem of collision avoidance between agents in MAS, which in my opinion is a very important issue and cannot be ignored in many cases.…”

“…However, the above excellent results still have limitations and shortcomings in some aspects. Besides that, the results for linear MASs provided by Ji et al 14 Kim et al, 15 Lin et al, 16 and Dong et al, 17 are not applicable to nonlinear MASs, the collision avoidance problem is ignored in References 14‐33, the results 35‐39 achieve collision avoidance but with some limitations. For example, the leader considered in 35‐37 has no input, which obviously does not conform to most actual leader‐follower formation situations.…”

“…At the same time, neural network control, 28 fuzzy control 29 and sliding mode control 30 are well used to solve the problems of actuator faults and communication constraints. Furthermore, some results of consensus control can also be extended to formation control by setting the output offset of the agent, which is also known as consensus‐based formation 31‐33 . However, none of the above results consider the problem of collision avoidance between agents in MAS, which in my opinion is a very important issue and cannot be ignored in many cases.…”

Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile Robots

“…Communication plays a pivotal role in sharing information, exchanging data, and synchronizing actions within the formation process. At present, the main communication approaches for formation control include the centralized method [4], decentralized method [5], and distributed method [6]. In large-scale MAS formation, the distributed method has the advantages of scalability, robustness, and adaptability, while striking a balance between resource consumption and communication efficiency.…”

Formation control of nonholonomic wheeled mobile robots using adaptive distributed fractional order fast terminal sliding mode control

“…Numerous control approaches have been used to address the coordination of wheeled mobile robots in a formation. To name a few, behavior-based [1][2][3], potential-field [4,5], consensus-based [6,7], leader-follower [8][9][10] and virtual-structure [11][12][13] strategies.…”