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Consensus Control of Nonholonomic Vehicles with Input Constraints and Time-Varying Delays

Year: 2024

Type: article

Abstract: This paper proposes a solution to the consensus formation control problem for agents with nonholonomic constraints and network communications subject to time-varying delays. The proposed controller addresses the consensus paradigm using a bounded input design without requiring velocity measurements. Network communications between the agents occur over an undirected graph topology. In order to deal with the nonholonomic constraints we design the controller to be time-varying using a persistence of excitation term. A comparative simulation analysis, with an unbounded control scheme, is provided.

Source: Memorias del Congreso Nacional de Control Automático

DOI: 10.58571/cnca.amca.2024.059

Authors: Universidad de Guadalajara, México, Emmanuel Nuño, Angel Ignacio Paredes, Universidad de Guadalajara, México, Antonio Loría

Institutions: Universidad de Guadalajara, Laboratoire des signaux et systèmes

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4402312345

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