Formation control of nonholonomic vehicles under time delayed communications
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Abstract
This document considers the formation control
problem for a group of nonholonomic mobile robots under time
delayed communications. The agents are assumed to be working
under a directed and fixed communication topology. A recently
developed formation control technique, based on a consensus
protocol for linear systems is revisited. The stability analysis
of this control technique, in the domain of the time delays, is
performed using the Cluster Treatment of Characteristic Roots
paradigm under the Spectral Delay Space approach. This analysis
leads to an exact declaration of the stability boundaries in
the domain of the delays. This linear control law is adapted to
the nonlinear dynamics of the nonholonomic carts by means of
feedback linearization. Simulation results show the applicability
of this method to the class of agents considered here.
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Atribución-NoComercial-CompartirIgual 2.5 Colombia