Visibility maintenance via controlled invariance for leader-follower vehicle formations

DOI10.1016/J.AUTOMATICA.2011.01.065zbMATH Open1233.93008arXiv1011.6127OpenAlexW2075947872MaRDI QIDQ540209FDOQ540209

Authors: Fabio Morbidi, Domenico Prattichizzo, Francesco Bullo 

Publication date: 1 June 2011

Published in: Automatica (Search for Journal in Brave)

Abstract: The paper studies the visibility maintenance problem (VMP) for a leader-follower pair of Dubins-like vehicles with input constraints, and proposes an original solution based on the notion of controlled invariance. The nonlinear model describing the relative dynamics of the vehicles is interpreted as linear uncertain system, with the leader robot acting as an external disturbance. The VMP is then reformulated as a linear constrained regulation problem with additive disturbances (DLCRP). Positive D-invariance conditions for linear uncertain systems with parametric disturbance matrix are introduced and used to solve the VMP when box bounds on the state, control input and disturbance are considered. The proposed design procedure is shown to be easily adaptable to more general working scenarios. Extensive simulation results are provided to illustrate the theory and show the effectiveness of our approach

Full work available at URL: https://arxiv.org/abs/1011.6127

Recommendations

• Leader-follower formation control of nonholonomic mobile robots with input constraints
• Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles
• Observer design via immersion and invariance for vision-based leader-follower formation control
• Leader-follower formation stabilization and tracking control for heterogeneous planar underactuated vehicle networks
• An active disturbance rejection approach to leader-follower controlled formation

zbMATH Keywords

input constraintsleader-followerautonomous mobile robotscontrolled invariancevisibility maintenance

Mathematics Subject Classification ID

Decentralized systems (93A14) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Title not available (Why is that?)
• Consensus and Cooperation in Networked Multi-Agent Systems
• Set-theoretic methods in control
• Distributed control of robotic networks: a mathematical approach to motion coordination algorithms.
• Fundamentals of convex analysis. Duality, separation, representation, and resolution
• The Multi-Agent Rendezvous Problem. Part 1: The Synchronous Case
• Visibility maintenance via controlled invariance for leader-follower vehicle formations
• Maintaining limited-range connectivity among second-order agents
• Constrained control for uncertain linear systems
• Gap Metrics, Representations, and Nonlinear Robust Stability
• Feedback control for linear time-invariant systems with state and control bounds in the presence of disturbances

Cited In (6)

• Leader tracking in homogeneous vehicle platoons with broadcast delays
• Observer design via immersion and invariance for vision-based leader-follower formation control
• Event-triggered consensus control for leader-following multi-agent systems with time-varying delays
• The ℒ₁ controller synthesis for piecewise continuous nonlinear systems via set invariance principles
• Visibility maintenance via controlled invariance for leader-follower vehicle formations
• Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles

This page was built for publication: Visibility maintenance via controlled invariance for leader-follower vehicle formations

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q540209)