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