Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems

Defoort, Michael; Floquet, Thierry; Perruquetti, Wilfrid

Document type :

Communication dans un congrès avec actes

Permalink :

http://hdl.handle.net/20.500.12210/57546

Title :

Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems

Author(s) :

Defoort, Michael [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Floquet, Thierry [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Perruquetti, Wilfrid [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Centrale Lille

Conference title :

IEEE Conference on Decision and Control

City :

Jeju Island

Country :

Corée du Sud

Start date of the conference :

2020-12

Publication date :

2020-12

HAL domain(s) :

Informatique [cs]/Automatique
Sciences de l'ingénieur [physics]

English abstract : [en]

In this paper, the problem of fixed-time leader-follower consensus problem of nonholonomic multi-agent systems is under study. Using the "desingularisation method" introduced in the seminal paper by J.M. Coron [5], new ...
Show more >In this paper, the problem of fixed-time leader-follower consensus problem of nonholonomic multi-agent systems is under study. Using the "desingularisation method" introduced in the seminal paper by J.M. Coron [5], new fixed-time controllers/observers for the double integrator system are designed. Following those results, a switching consensus protocol which guarantees the tracking errors stabilization in fixed-time which does not depend on the initial conditions of the multi-agent system is provided. Simulation results on a fleet of wheeled mobile robots show the effectiveness of the proposed scheme. I. INTRODUCTION Stabilization and tracking problems of nonholonomic systems , e.g. systems subject to nonintegrable constraints with respect to velocity, have received a lot of attention in the literature (see [14] for an extended survey). Indeed, there are significant technical challenges due to the Brockett's necessary condition [2]. Hence, several time-varying or discontinu-ous controllers have been investigated such as sinusoidal and polynomial controls [17], smooth time-varying feedbacks [22], backstepping based schemes [25] and hybrid schemes [15]. Nowadays, there are lot of applications in autonomous vehicles, wheeled mobile robots [8], under-actuated ships [10], etc. During the last decades, distributed control of multi-agent systems (MAS) has attracted a lot of attention due to its wide range of applications in different areas such as flocking [27], swarming, target tracking, etc. Among them, the consensus problem is one of the most fundamental problems for cooperative control of MAS. Its objective is to design distributed controllers so that each agent reaches an agreement regarding to a given quantity of interest using only local information [20]. The consensus problem has been widely investigated for linear systems [24], [16], [23]. Nevertheless, many mechanical systems (e.g. wheeled mobile robots, UAVs, or manip-ulators) cannot be described by quasi-linear systems since they present nonintegrable constraints on velocity. Hence, consensus protocols have been derived for nonholonomic systems [11], [12], [4]. However, these controllers only guarantee asymptotic consensus or finite-time consensus (i.e. the settling time depends on the initial conditions of the multi-agent system).Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL

Submission date :

2021-11-14T02:12:23Z

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