Synchronization Control for a Swarm of Unicycle Robots: Analysis of Different Controller Topologies

Gutiérrez, Héctor; Morales-Díaz, América Berenice; Nijmeijer, Henk

doi:10.1002/asjc.1497

Cited by 19 publications

(25 citation statements)

References 30 publications

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“…Taking the derivative of x * 1 and combining (4a) and (7), we obtain the closed-loop collective subsystem:…”

Section: Controller Designmentioning

confidence: 99%

“…Based on the novel output ( 14) and the proposed controller in (7), it can be concluded that if s i reach an agreement, then x i2 and x i3 − x j 3 are bounded and convergent to zero; see the following Lemma.…”

Section: Ii: Control Of Subsystem (4b)mentioning

confidence: 99%

“…In the literature, cooperative control of unicycle vehicles contains two cases: leader-following case [7] and leaderless case [8]. For the leader-following case, multiple unicycle vehicles are driven to form a desired team shape and track a reference trajectory generated by leader.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Global formation control of nonholonomic unicycle vehicles with guaranteed rate of convergence

Zhao

Huang

Liu

et al. 2021

Asian Journal of Control

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This paper studies the full‐state formation control problem of multiple nonholonomic unicycle vehicles. Firstly, the formation error model is transformed into standard nonholonomic chained form, including orientation and position error subsystems. For orientation subsystem, an angular velocity control law is designed to be a cooperative term plus an exponential decay function of time, ensuring orientations reach an agreement on a common value. For position error subsystem, a time‐varying output‐like variable is carefully constructed to ensure a stable zero dynamics, that is, the consensus of these output variables guarantees position formation, overcoming the intrinsic underactuated control difficulty. Then, a linear velocity control law is derived to realize consensus of outputs. It is proved that the proposed distributed time‐varying controller is capable of steering the vehicles to globally exponentially make into desired geometric position shape with the same orientations and vanishing velocities, provided that the communication topology is directed and having a spanning tree. The calculated convergence rates are shown dependent on controller coefficients; thus, the controller is modified to additionally reach a prescribed rate of convergence by redesigning conditions of controller parameters. Finally, two numerical simulations are implemented for five unicycle vehicles, demonstrating the effectiveness of the proposed control scheme.

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“…Taking the derivative of x * 1 and combining (4a) and (7), we obtain the closed-loop collective subsystem:…”

Section: Controller Designmentioning

confidence: 99%

Section: Ii: Control Of Subsystem (4b)mentioning

confidence: 99%

See 1 more Smart Citation

Global formation control of nonholonomic unicycle vehicles with guaranteed rate of convergence

Zhao

Huang

Liu

et al. 2021

Asian Journal of Control

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“…is an alternative error variable. Using (16), it quite simple to verify that (19) can be expressed as…”

Section: Formation Maneuvering Controllermentioning

confidence: 99%

“…Numerous multi-agent coordination and cooperation problems have been the subject of considerable attention from researchers over the past several years: aggregation, consensus, formation, social foraging, synchronization, containment, distributed averaging/optimization, etc. [11,[18][19][20]22,29,34,39,40]. In this paper, we are primarily concerned with the formation problem, which regards the situation where a desired geometric shape in space is assumed and maintained by a team of agents.…”

Section: Introductionmentioning

confidence: 99%

3D Multi‐Agent Formation Control with Rigid Body Maneuvers

Zhang

Queiroz

2018

Asian Journal of Control

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In this paper, we propose a control scheme for the formation maneuvering problem of multi-agent systems where the team of agents can translate and rotate as a virtual rigid body in 3D. Using the single-integrator model, we formulate the basic control law which is comprised of a formation acquisition term, function of the graph rigidity matrix, and a rigid body maneuvering term. The control is dependent on the relative position of agents that are connected in an infinitesimally and minimally rigid framework in addition to the desired rigid body motion of the formation. To facilitate the design of the rigid body maneuver, one agent in the convex hull of the formation serves as the reference point for the rotation component. A simulation study demonstrates the formation controller.

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