文章基本信息

标题：A new consensus-based formation tracking scheme for a class of robotic systems using negative imaginary property
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作者：Parijat Bhowmick ; Arijit Ganguly ; Sawan Sen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：1
页码：685-690
DOI：10.1016/j.ifacol.2022.04.112
语种：English
出版社：Elsevier
摘要：AbstractThis brief proposes a consensus-based formation tracking scheme for multi-robot systems utilising the Negative Imaginary (NI) theory. The proposed scheme applies to a class of networked robotic systems that can be modelled as a group of single integrator agents with stable uncertainties connected via an undirected graph. NI/SNI property of networked agents facilitates the design of a distributed Strictly Negative Imaginary (SNI) controller to achieve the desired formation tracking. A new theoretical proof of asymptotic convergence of the formation tracking trajectories is derived based on the integral controllability of networked NI/SNI systems. The proposed scheme is an alternative to the conventional Lyapunov-based formation tracking schemes. It offers robustness to NI/SNI-type model uncertainties and fault-tolerance to a sudden loss of robots due to hardware/communication fault. The feasibility and usefulness of the proposed formation tracking scheme were validated by lab-based real-time hardware experiments involving miniature, two-wheeled mobile robots.
关键词：KeywordsNegative imaginary systemsIntegral controllabilityEigenvalue lociFormation trackingMulti-robot systemsFault-tolerance