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Global Consensus-Based Formation Control of Nonholonomic Mobile Robots With Time-Varying Delays and Without Velocity Measurements | IEEE Journals & Magazine | IEEE Xplore

Global Consensus-Based Formation Control of Nonholonomic Mobile Robots With Time-Varying Delays and Without Velocity Measurements


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 More

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)
Page(s): 355 - 362
Date of Publication: 06 April 2023

ISSN Information:


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