Time-Variant Consensus Tracking Control for Networked Planar Multi-Agent Systems with Non-Holonomic Constraints

Zhao, Jun; Liu, Shuai

doi:10.1007/s11424-017-6241-2

Cited by 16 publications

(10 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, in our paper, the destination may not be detected by an AUV, since the destination can be too far from all robots. Thus, our paper is distinct from other papers on distributed rendezvous controls, such as [21, 30–35].…”

Section: Literature Reviewmentioning

confidence: 85%

Underwater guidance of distributed autonomous underwater vehicles using one leader

Kim

2022

Asian Journal of Control

View full text Add to dashboard Cite

Consider the case where autonomous underwater vehicles (AUVs) are deployed to monitor a 3D underwater environment. This paper tackles the problem of guiding all AUVs to the destination while not colliding with a priori unknown 3D obstacles. Suppose that among all AUVs, only the leader AUV has an ability of locating itself, while accessing a destination location. A follower, an AUV that is not a leader, has no sensors for locating itself. Every follower can only measure the relative position of its neighbor AUVs utilizing its sonar sensors. Our paper addresses distributed controls, so that multiple followers track the leader while preserving communication connectivity. We design controls, so that all AUVs reach the destination safely, while maintaining connectivity in cluttered 3D environments. To the best of our knowledge, our article is novel in developing 3D underwater guidance controls, so that all AUVs equipped with sonar sensors are guided to reach a destination in a priori unknown cluttered environments. MATLAB simulations are used to validate the proposed guidance scheme in underwater environments with many obstacles.

show abstract

Section: Literature Reviewmentioning

confidence: 85%

Underwater guidance of distributed autonomous underwater vehicles using one leader

Kim

2022

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…, andα (1) := [α 1α2 ], whereas ρ (2) = ρ 3 , β (2) = β 3 , andα (2) =α 3 . Note, after (4) and (5), that since the first node (i = 1) is the root, which does not have incident edges, we have a ik = 0 hence, v 1 = ω 1 = 0. Furthermore, since every node in a tree has only one incident edge, we have that each v i depends only on the state of edge e k where, e k is incident on node i.…”

Section: B Case Study: 4 Nonholonomic Agentsmentioning

confidence: 99%

“…As a consequence, much attention has been paid to the problem of designing time-varying or non-smooth controllers for set-point stabilisation of nonholonomic systems. In [5] a time-varying control is designed for feedback linearised nonholonomic systems over a directed-tree graph. A δpersistency-of-excitation-based time-varying control is used in [6], [7], [8] that achieves full-consensus-based formation over undirected graphs whereas in [9] a time-varying controller is proposed for the consensus of nonholonomic systems in chained form, over a directed-tree graph.…”

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)

View full text Add to dashboard Cite

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.

show abstract

“…In either case, most often a Cartesian-coordinates-based model is used, for which the origin is not stabilisable via smooth invariant feedback. For instance, the controllers proposed in [1], [2] are time-varying and they guarantee position consensus. Time-varying feedback is also used in [3]- [5], but for full-consensus-based formation control.…”

Section: Introductionmentioning

confidence: 99%

Leader-Follower Consensus of Unicycles With Communication Range Constraints via Smooth Time-Invariant Feedback

Restrepo

Lorı́a²,

Sarras³

et al. 2021

IEEE Control Syst. Lett.

View full text Add to dashboard Cite

We solve the full-consensus problem (in position and orientation) with connectivity maintenance for multiple nonholonomic vehicles in a leader-follower configuration. We rely on a polar-coordinates based model which is more natural for the problem setting. The proposed control law is smooth (in the domain of definition) time-invariant and uses only relative measurements, making it more suited for implementation. We establish asymptotic convergence to the consensus manifold as well as connectivity maintenance using the Lyapunov's first method and cascaded systems theory. In addition, we illustrate our theoretical contributions experimentally.

show abstract

Time-Variant Consensus Tracking Control for Networked Planar Multi-Agent Systems with Non-Holonomic Constraints

Cited by 16 publications

References 24 publications

Underwater guidance of distributed autonomous underwater vehicles using one leader

Underwater guidance of distributed autonomous underwater vehicles using one leader

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

Leader-Follower Consensus of Unicycles With Communication Range Constraints via Smooth Time-Invariant Feedback

Contact Info

Product

Resources

About