Generalized Homogeneous Formation Control for Unicycle Multi-Agent Systems  

作　　者：Min Li Héctor Ríos Andrey Polyakov Gang Zheng Siyuan Wang 

机构地区：[1]Inria,Centrale Lille,Université de Lille,CNRS,UMR 9189-CRIStAL.Parc Scientifique de la Haute Borne 40,av.Halley,Bât A,ParkPlaza 59650,Villeneuve d'Ascq,France [2]Tecnol ogico Nacional de México/I.T.La Laguna,C.P.27000,Torreón Coahuila,México [3]CONAHCYT,Investigadoras e Investigadores por México,C.P.03940,Ciudad de México,México [4]State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Beijing,P.R.China

出　　处：《Guidance, Navigation and Control》2024年第4期108-128,共21页制导、导航与控制(英文)

基　　金：supported by the CSC Grant 202106160022;the SEP-CONACYT-ANUIES-ECOS NORD Project 315597;ECOS NORD Project M20M04;supported in part by the CONAHCYT CVU 270504 Project 922;in part by the TecNM Projects

摘　　要：In this paper,the formation control problem for unicycle multi-agent systems is considered.The design of a generalized homogeneous leader–follower formation control protocol is studied which shows that such a control protocol can be obtained by“upgrading”from the classical linear control.With this proposed control protocol,a finite-time stability of the formation error is ensured if the acceleration of the leader is bounded by some known value.In addition,if the leader acceleration is unknown but bounded,the robust formation is achieved by ensuring the formation error's input-to-state stability.Simulations are carried out to verify the effectiveness of the proposed control protocol.

关 键 词：Homogeneous control finite-time stability ROBUSTNESS formation control unicycle mobile robots multi-agent systems 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]