Observerless Output-Feedback Consensus-Based Formation Control of Second-Order Nonholonomic Systems
We present a solution to the problem of formation consensus control of second-order nonholonomic systems via output feedback. We contribute with a distributed consensus controller for force-controlled nonholonomic systems under the assumption that the forward and angular velocities are not measurabl...
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| Veröffentlicht in: | IEEE transactions on automatic control 2022-12, Vol.67 (12), p.6934-6939 |
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| container_title | IEEE transactions on automatic control |
| container_volume | 67 |
| creator | Loria, Antonio Nuno, Emmanuel Panteley, Elena |
| description | We present a solution to the problem of formation consensus control of second-order nonholonomic systems via output feedback. We contribute with a distributed consensus controller for force-controlled nonholonomic systems under the assumption that the forward and angular velocities are not measurable. Our main statement establishes uniform global asymptotic stability for the closed-loop system; this guarantees robustness with respect to bounded disturbances, in the sense of Malkin's total stability, also known as local input-to-state stability. |
| doi_str_mv | 10.1109/TAC.2021.3136140 |
| format | Article |
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We contribute with a distributed consensus controller for force-controlled nonholonomic systems under the assumption that the forward and angular velocities are not measurable. Our main statement establishes uniform global asymptotic stability for the closed-loop system; this guarantees robustness with respect to bounded disturbances, in the sense of Malkin's total stability, also known as local input-to-state stability.</description><identifier>ISSN: 0018-9286</identifier><identifier>EISSN: 1558-2523</identifier><identifier>DOI: 10.1109/TAC.2021.3136140</identifier><identifier>CODEN: IETAA9</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Angular velocity ; Asymptotic methods ; Asymptotic stability ; Automatic Control Engineering ; Closed loops ; Computer Science ; Consensus ; Control systems ; Feedback ; Feedback control ; formation control ; Mathematical models ; nonholonomic systems ; Output feedback ; persistency of excitation ; Position measurement ; Robot sensing systems ; Robots ; Stability ; Velocity measurement</subject><ispartof>IEEE transactions on automatic control, 2022-12, Vol.67 (12), p.6934-6939</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022</rights><rights>Distributed under a Creative Commons Attribution 4.0 International License</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c367t-b9e9409facabd3c3f5212717046f428abe8cb3b8435f34054f41a1265b3f6dbe3</citedby><cites>FETCH-LOGICAL-c367t-b9e9409facabd3c3f5212717046f428abe8cb3b8435f34054f41a1265b3f6dbe3</cites><orcidid>0000-0003-4223-9397 ; 0000-0003-2058-4579 ; 0000-0002-4565-9138</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9653826$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>230,314,780,784,796,885,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/9653826$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttps://hal.science/hal-03752301$$DView record in HAL$$Hfree_for_read</backlink></links><search><creatorcontrib>Loria, Antonio</creatorcontrib><creatorcontrib>Nuno, Emmanuel</creatorcontrib><creatorcontrib>Panteley, Elena</creatorcontrib><title>Observerless Output-Feedback Consensus-Based Formation Control of Second-Order Nonholonomic Systems</title><title>IEEE transactions on automatic control</title><addtitle>TAC</addtitle><description>We present a solution to the problem of formation consensus control of second-order nonholonomic systems via output feedback. We contribute with a distributed consensus controller for force-controlled nonholonomic systems under the assumption that the forward and angular velocities are not measurable. 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| identifier | ISSN: 0018-9286 |
| ispartof | IEEE transactions on automatic control, 2022-12, Vol.67 (12), p.6934-6939 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Angular velocity Asymptotic methods Asymptotic stability Automatic Control Engineering Closed loops Computer Science Consensus Control systems Feedback Feedback control formation control Mathematical models nonholonomic systems Output feedback persistency of excitation Position measurement Robot sensing systems Robots Stability Velocity measurement |
| title | Observerless Output-Feedback Consensus-Based Formation Control of Second-Order Nonholonomic Systems |
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