Visibility maintenance via controlled invariance for leader-follower vehicle formations

DOI10.1016/J.AUTOMATICA.2011.01.065MaRDI QIDQ540209zbMATH OpenOpenAlexFDO

Authors Fabio Morbidi, Domenico Prattichizzo, Francesco Bullo

Publication date 1 June 2011

Published in Automatica (Search for Journal in Brave)

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

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)

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

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Cites work

• scientific article; zbMATH DE number 3855514 (Why is no real title available?)
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• Gap Metrics, Representations, and Nonlinear Robust Stability
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• Visibility maintenance via controlled invariance for leader-follower vehicle formations

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
• Visibility maintenance via controlled invariance for leader-follower vehicle formations
• The ℒ₁ controller synthesis for piecewise continuous nonlinear systems via set invariance principles
• Event-triggered consensus control for leader-following multi-agent systems with time-varying delays
• Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles

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