Abstract:
In this article, we propose a solution to the full-consensus-based formation problem for torque-controlled nonholonomic mobile robots under time-varying communication del...Show MoreMetadata
Abstract:
In this article, we propose a solution to the full-consensus-based formation problem for torque-controlled nonholonomic mobile robots under time-varying communication delays and without velocity measurements. Under the assumptions of static and undirected communication topologies, and smooth and bounded delays, we propose a distributed smooth, time-varying control law which achieves the goal of acquiring a global formation pattern in a common consensus point for both position and orientation. The controller is a combination of a simple proportional-plus-damping (PD) scheme and a simple globally exponentially convergent velocity observer. Consensus is reached independently of all initial conditions. Realistic simulations in the Gazebo-robot operating system environment illustrate the effectiveness of the proposed algorithm and the robustness with respect to measurement noise, nonsmooth delays, and uncertain dynamics.
Published in: IEEE Transactions on Automatic Control ( Volume: 69, Issue: 1, January 2024)
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- IEEE Keywords
- Index Terms
- Velocity Measurements ,
- Mobile Robot ,
- Formation Control ,
- Time-varying Delays ,
- Nonholonomic Mobile Robots ,
- Consensus-based Formation ,
- Consensus-based Formation Control ,
- Optimal Control ,
- Pattern Formation ,
- Realistic Simulation ,
- Communication Delay ,
- Problem In Robotics ,
- Time Delay ,
- Center Of Mass ,
- Control Problem ,
- Angular Velocity ,
- Time Derivative ,
- Distributed Control ,
- Observation Error ,
- Laplacian Matrix ,
- Uniformly Continuous ,
- Full Consensus ,
- Assumption A1 ,
- Barycenter
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Velocity Measurements ,
- Mobile Robot ,
- Formation Control ,
- Time-varying Delays ,
- Nonholonomic Mobile Robots ,
- Consensus-based Formation ,
- Consensus-based Formation Control ,
- Optimal Control ,
- Pattern Formation ,
- Realistic Simulation ,
- Communication Delay ,
- Problem In Robotics ,
- Time Delay ,
- Center Of Mass ,
- Control Problem ,
- Angular Velocity ,
- Time Derivative ,
- Distributed Control ,
- Observation Error ,
- Laplacian Matrix ,
- Uniformly Continuous ,
- Full Consensus ,
- Assumption A1 ,
- Barycenter
- Author Keywords