Stability analysis of nonholonomic multiagent coordinate‐free formation control subject to communication delays

González, Antonio; Aragüés, Rosario; López‐Nicolás, Gonzalo; Sagüés, Carlos

doi:10.1002/rnc.4225

Cited by 12 publications

(13 citation statements)

References 35 publications

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“…The pair (uvi, uωi) corresponds to the control inputs, which may depend on the current vehicle's local coordinates and time, but also on the coordinates of its neighbors. Remark 1: We emphasize that, in contrast with a greater body of literature (e.g., [6], [9], [15], and [11]) in which the dynamics (2) is neglected, we assume here that the nonholonomic vehicle is torque controlled. From a physical viewpoint, there exists a direct relation between the wheels' input torque and the controls (uvi, uωi).…”

Section: Model and Problem Formulationmentioning

confidence: 99%

“…From a control-theory viewpoint, it is relevant to make a distinction according to the model that is used as well as the state variables that are regulated. In terms of modelling, in many works a kinematicsonly (hence simplified) model is used -see e.g., [6], [9], [10], and [11]. In this note we employ a force-controlled (hence full) model -cf.…”

Section: Introductionmentioning

confidence: 99%

“…Measurements may come from global-positioning systems [10], from proximity sensors [11], or both [9]. The first yield usually reliable measurements with respect to a fixed frame and may be used to achieve formation consensus from initially far-away positions; the latter deliver relative distances and orientations and are useful to maintain the formation while tracking a trajectory.…”

Section: Introductionmentioning

confidence: 99%

“…Consensus of nonholonomic vehicles under delayed measurements is addressed, for instance, in [9], [11] and [19]. In [9] the delays are assumed to be constant, in [11] the delays are assumed to be constant and equal for all agents, and in [19], they are assumed to be differentiable with bounded derivatives (up to the fourth). In this note, we relax these hypotheses by assuming that the delays are timevarying and non-differentiable, and bounded.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

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

Maghenem

Lorı́a

Nuño

et al. 2021

IEEE Trans. Automat. Contr.

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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.

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Section: Model and Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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

Maghenem

Lorı́a

Nuño

et al. 2021

IEEE Trans. Automat. Contr.

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“…Based on the latter, a smooth time-invariant controller is presented in [13] for consensus of nonholonomic agents over a directed spanning tree, albeit for a linearised system, hence, achieving only position consensus. In [14] a continuous time-invariant feedback for position consensus is proposed for multi-agent systems over undirected graphs. However, time delays have to be considered in order to avoid algebraic loops in the control.…”

Section: Introductionmentioning

confidence: 99%

Leader-follower Consensus of Unicycle-type Vehicles via Smooth Time-invariant Feedback

Restrepo

Sarras

Lorı́a

et al. 2020

2020 European Control Conference (ECC)

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For a system of multiple vehicles with nonholonomic constraints and communicating under a directed spanning-tree graph, we solve the problem of full consensus, that is, convergence to a common unspecified value both in position and orientation. Remarkably, our controller is smooth time-invariant thanks to a polar-coordinates based model. Furthermore, the proposed control is quite simple, as it uses only relative information and achieves a more natural behaviour of the vehicles, making it well suited for practical applications. We establish (almost) global asymptotic convergence to the consensus manifold using the Lyapunov framework and cascaded systems theory.

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Weighted predictor‐feedback formation control in local frames under time‐varying delays and switching topology

González

Aragüés

López‐Nicolás

et al. 2020

Intl J Robust & Nonlinear

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This article presents a novel control strategy based on predictor-feedback delay compensation for multiagent systems to reach a prescribed target formation under unknown but bounded communication delays and switching communication topology. Both communication delays and network topology can be subjected to arbitrarily-fast time variations. The key idea is to implement predictor-feedback strategies using only relative measurements between agents expressed in each local agent's frame, with the aim to counteract the negative effect of time delays. Nevertheless, due to the decentralized nature of the control, the presence of time-varying delays and switching communication topology, only partial delay compensation is possible. Despite this, we show that better performance can be achieved with our proposal with respect to nonpredictor control schemes by introducing a weighting factor for predictor-feedback terms in the control law. Sufficient conditions based on Linear Matrix Inequalities for robust stability are also provided, which allow to easily design the controller parameters in order to maximize the speed of convergence. Finally, simulation results are provided to show the effectiveness of the proposed approach. K E Y W O R D S delay compensation, formation control, linear matrix inequality (LMI), multiagent system, time-varying delay 1 3484 /journal/rnc Int J Robust Nonlinear Control. 2020;30:3484-3500.GONZÁLEZ et al. 3485convergence of leader-follower synchronization of a network of agents has been studied in the work presented in 14 by means of Lyapunov-Krasovskii functionals (LKFs), including an estimator of time-varying delays in the control scheme to improve leader-tracking performance. In formation control, the stability analysis under time delays has been addressed for leader-based formation control strategies, such as formation-containment control, 15,16 tracking formation control, 17 and multiple-leader based formation control with a stochastic sampling scheme in 18. On the other hand, it is worthwhile mentioning that leaderless coordinate-free formation control strategies 19-21 can achieve global convergence to a unique rigid shape in the absence of a global coordinate system and leader agents, bringing more robustness and flexibility. For such coordinate-free formation control methods, the effect of time delays has also been investigated under time-constant delays 19 and further extended to time-varying delays, 20,21 revealing that the speed of convergence is limited by the maximum allowable delay. Nevertheless, despite of the large number of contributions on this topic, little attention has been paid to investigate a possible improvement of the existing trade-off between speed of convergence and the maximum allowable time delay in multiagent formation control systems, which might prevent from reaching the target formation in a reasonable time interval if delays are large enough. This fact motivates the research of delay compensation methods applied to formation control synthesis.The underlying idea ...

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Stability analysis of nonholonomic multiagent coordinate‐free formation control subject to communication delays

Cited by 12 publications

References 35 publications

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

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

Leader-follower Consensus of Unicycle-type Vehicles via Smooth Time-invariant Feedback

Weighted predictor‐feedback formation control in local frames under time‐varying delays and switching topology

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