Distributed Circular Formation Stabilization for Dynamic Unicycles

Smooth time-invariant control for leaderless consensus of networked nonholonomic systems

“…c Remark 2. Different from the existing time-varying or discontinuous controllers in the literatures, [19][20][21][22][23][24][25][26][27][28][29] which addressed the leaderless consensus/formation control problem of nonholonomic systems, the distributed controller (equation (11) or (13)) is smooth, timeinvariant, and static. The achievement of this relies heavily on the Lyapunov function V 1 constructed in equation (4).…”

“…16 For any individual nonholonomic system, there exists no continuous time-invariant static controller that asymptotically stabilizes the state of system to a fixed point, 17 and hence, only the time-varying or discontinuous controller 18 can achieve asymptotic stabilization. For multiple leaderless consensus case, most of the published references still focus on the design of time-varying, discontinuous, or dynamic controller, see the literatures [19][20][21][22][23][24][25][26][27][28][29] which achieve the leaderless consensus/formation control of multiple nonholonomic systems. In addition, it was reported in the study by Zhai et al 30 that the smooth time-invariant static distributed control law can realize the asymptotic leaderless consensus of the nonholonomic chained systems over undirected connected graph.…”

Circular formation control protocols for dynamic unicycles via hybrid stabilization of sets

“…In this section, we use the results of Section II to develop a hybrid resetting controller of the form (3)-(5) to achieve circular formations [27] involving cyclic pursuit [16], [28], [29]. The proposed controller has a leaderless, dynamic distributed architecture, which is more robust and exhibits faster convergence than static, leader-based or partially leaderless control designs [27], [16], [28], [29].…”

“…The proposed controller has a leaderless, dynamic distributed architecture, which is more robust and exhibits faster convergence than static, leader-based or partially leaderless control designs [27], [16], [28], [29]. Consider q mobile autonomous agents in a plane described by the unicycle model given bẏ…”

Optimal deployment of heterogeneous mobile agents on a circle

“…Deployment of mobile agents in one-dimensional space has received increasing attention in recent years [15][16][17][18][19]. In [15], a Kuramoto-like model is proposed for balanced deployment of multiple robots on a circle, where the goal is to distribute the robots equally on a circle.…”