Distributed consensus-formation of force-controlled nonholonomic robots with time-varying delays (Q2203051)

The present paper considers a control problem of multiple second-order nonholonomic systems. A solution to the leaderless consensus problem for force-controlled nonholonomic robots, in the presence of time-varying measurement delays, is presented. The authors overcome the difficulty imposed by the nonholonomic constraints to achieve set-point stabilization via smooth feedback using a time-varying controller. Current research focusses on moving-leader-follower consensus, on establishing stronger stability properties, and on determining a performance-driven tuning approach of the controller parameters.