Distributed formation stabilization for mobile agents using virtual tensegrity structures

Abstract

This paper investigates the distributed formation control problem for a group of mobile Euler-Lagrange agents to achieve global stabilization by using virtual tensegrity structures. Firstly, a systematic approach to design tensegrity frameworks is elaborately explained to confine the interaction relationships between agents, which allows us to obtain globally rigid frameworks. Then, based on virtual tensegrity frameworks, distributed control strategies are developed such that the mobile agents converge to the desired formation globally. The theoretical analysis is further validated through simulations.

A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty

“…e multiple mobile robots also enhance the fault tolerance and robustness of the system and strengthen the ability of robots' environment recognition. Comparing with the leader-follower method [5][6][7][8], behavior-based method [9][10][11],and virtual structure method [12,13], the model predictive control (MPC) has attracted attention because of its ability of improving the robustness of the system and having better dynamic control performance in solving the problem of consensus protocol in distributed formation control of multiple mobile robots. Also, MPC is convenient to establish the system model.…”