Consensus-based Formation Control of Nonholonomic Robots using a Strict Lyapunov Function

摘要

This paper presents a novel decentralized consensus-based formation controller that considers both, the kinematic and the dynamic model, to uniformly and asymptotically drive a network composed of N nonholonomic mobile robots to a desired formation with a given orientation. The network is modeled as an undirected, static and connected graph. The controller is a smooth time-varying δ—persistently exciting controller of the Proportional-Derivative type. The stability analysis is carried out using a novel strict Lyapunov function. Simulations, using a network with six agents, illustrate our theoretical contributions.