Decentralized Predefined-Time Leaderless Consensus-Formation VFO Control for Nonholonomic Multi-Agent Systems
[ 1 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ SzD ] doctoral school student | [ P ] employee
[2.2] Automation, electronics, electrical engineering and space technologies
2024
chapter in monograph / paper
english
- Average consensus
- Formation control
- Predefined-time set-point stabilization
- Vector Field Orientation
- Nonholonomic mobile robots
- Multi-agent systems
EN This paper deals with the decentralized predefined-time leaderless consensus formation control problem for nonholonomic multi-agent systems. First, the predefined-time average consensus problem is investigated. Distributed observers, which interact with each other via an undirected communication topology, are designed to estimate, in a predefined-time, the average of their initial state using only local information. Then, based on these estimates, a predefined-time Vector-Field-Orientation (VFO) controller is applied, which guarantees that the multi-agent system achieves a desired formation. The VFO controller enables one to predict the paths for each agent and to avoid static obstacles. Some numerical results illustrate the interest of the proposed predefined-time leaderless consensus formation controller.
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