Observerless Output-Feedback Consensus-Based Formation Control of Second-Order Nonholonomic Systems
Antonio Lorı́a, Emmanuel Nuño, Elena Panteley
Abstract
We present a solution to the problem of formation consensus control of second-order nonholonomic systems via output feedback. We contribute with a distributed consensus controller for force-controlled nonholonomic systems under the assumption that the forward and angular velocities are not measurable. Our main statement establishes uniform global asymptotic stability for the closed-loop system; this guarantees robustness with respect to bounded disturbances, in the sense of Malkin’s total stability, also known as local input-to-state stability.
Topics & Concepts
Control theory (sociology)Nonholonomic systemOutput feedbackFeedback controlControl (management)Computer scienceControl systemOrder (exchange)Control engineeringEngineeringMobile robotRobotEconomicsArtificial intelligenceFinanceElectrical engineeringDistributed Control Multi-Agent SystemsControl and Dynamics of Mobile RobotsAdaptive Control of Nonlinear Systems