Coordinated multi-robot trajectory tracking control over sampled communication

DOI10.1016/J.AUTOMATICA.2023.110941zbMATH Open1520.93357arXiv2112.00165OpenAlexW4322124312MaRDI QIDQ6164048FDOQ6164048

Authors: Enrica Rossi, Marco Tognon, Luca Ballotta, Ruggero Carli, Juan Cortés, Antonio Franchi, Luca Schenato 

Publication date: 30 June 2023

Published in: Automatica (Search for Journal in Brave)

Abstract: In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling time of communications is much larger than the sampling time of low-level controllers, disrupting theoretical convergence guarantees of standard control design in continuous time. Given a desired trajectory in configuration space which is precomputed offline, the proposed controller receives configuration measurements, possibly via wireless, to re-compute velocity references for the robots, which are tracked by a low-level controller. We propose joint design of a sampled proportional feedback plus a novel continuous-time feedforward that linearizes the dynamics around the reference trajectory: this method is amenable to distributed communication implementation where only one broadcast transmission is needed per sample. Also, we provide closed-form expressions for instability and stability regions and convergence rate in terms of proportional gain $k$ and sampling period $T$. We test the proposed control strategy via numerical simulations in the scenario of cooperative aerial manipulation of a cable-suspended load using a realistic simulator (Fly-Crane). Finally, we compare our proposed controller with centralized approaches that adapt the feedback gain online through smart heuristics, and show that it achieves comparable performance.

Full work available at URL: https://arxiv.org/abs/2112.00165

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zbMATH Keywords

distributed controltrajectory trackingUAVsmulti-robot systemscontrol over sampled communications

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Multi-agent systems (93A16)

Cites Work

• Multi-UAV cooperation and control for load transportation and deployment
• Online Leader Selection for Improved Collective Tracking and Formation Maintenance
• Distributed Estimation of State and Parameters in Multiagent Cooperative Load Manipulation

Cited In (1)

• Observer-based guaranteed-cost bipartite time-varying formation tracking control for multiagent systems subject to communication delays

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