文章基本信息

标题：Consensus-based Formation Control of Nonholonomic Robots using a Strict Lyapunov Function
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作者：Mohamed Maghenem ; Abraham Bautista-Castillo ; Emmanuel Nuño 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：2439-2444
DOI：10.1016/j.ifacol.2017.08.406
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a novel decentralized consensus-based formation controller that considers both, the kinematic and the dynamic model, to uniformly and asymptotically drive a network composed of N nonholonomic mobile robots to a desired formation with a given orientation. The network is modeled as an undirected, static and connected graph. The controller is a smooth time-varying δ—persistently exciting controller of the Proportional-Derivative type. The stability analysis is carried out using a novel strict Lyapunov function. Simulations, using a network with six agents, illustrate our theoretical contributions.
关键词：KeywordsConsensusNonholonomic systemsPersistence of ExcitationLyapunov’s direct method