Leader-Follower Consensus Formation Control of Nonholonomic Vehicles with Input Constraints

https://doi.org/10.58571/CNCA.AMCA.2022.083

Resumen: This paper proposes a solution for the leader-follower consensus formation control problem of nonholonomic vehicles that exhibit input constraints. In this consensus problem, the position and the orientation of all the vehicles has to be regulated at a desired equilibrium, hence this pertains to a stabilization scenario. Therefore, in order to satisfy Brockett’s theorem, the controller has to be designed to be either discontinuous or time-varying. The proposed scheme is a smooth bounded Proportional plus damping injection controller that incorporates a persistency of excitation term. A comparative simulation analysis with an unbounded control scheme is also provided.

¿Cómo citar?

Nuño, E., Loría, A., Paredes, A., Hernández, T. & Panteley, E.. Leader-Follower Consensus Formation Control of Nonholonomic Vehicles with Input Constraints. Memorias del Congreso Nacional de Control Automático, pp. 492-497, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.083

Palabras clave

Sistemas Multi-Agente; Robótica y Mecatrónica; Control de Sistemas No Lineales

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