Junyan Hu
Robust formation control for networked robotic systems using Negative Imaginary dynamics
Hu, Junyan; Lennox, Barry; Arvin, Farshad
Abstract
This paper proposes a consensus-based formation tracking scheme for multi-robot systems utilizing the Negative Imaginary (NI) theory. The proposed scheme applies to a class of networked robotic systems that can be modelled as a group of single integrator agents with stable uncertainties connected via an undirected graph. NI/SNI property of networked agents facilitates the design of a distributed Strictly Negative Imaginary (SNI) controller to achieve the desired formation tracking. A new theoretical proof of asymptotic convergence of the formation tracking trajectories is derived based on the integral controllability of a networked SNI systems. The proposed scheme is an alternative to the conventional Lyapunov-based formation tracking schemes. It offers robustness to NI/SNI-type model uncertainties and fault-tolerance to a sudden loss of robots due to hardware/communication fault. The feasibility and usefulness of the proposed formation tracking scheme were validated by lab-based real-time hardware experiments involving miniature mobile robots.
Citation
Hu, J., Lennox, B., & Arvin, F. (2022). Robust formation control for networked robotic systems using Negative Imaginary dynamics. Automatica, 140, Article 110235. https://doi.org/10.1016/j.automatica.2022.110235
Journal Article Type | Article |
---|---|
Acceptance Date | Jan 27, 2022 |
Online Publication Date | Mar 17, 2022 |
Publication Date | 2022-06 |
Deposit Date | May 27, 2022 |
Journal | Automatica |
Print ISSN | 0005-1098 |
Publisher | Elsevier |
Volume | 140 |
Article Number | 110235 |
DOI | https://doi.org/10.1016/j.automatica.2022.110235 |
Public URL | https://durham-repository.worktribe.com/output/1202723 |
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