Formation Control of Nonholonomic Multi-agent Systems

/Formation Control of Nonholonomic Multi-agent Systems

Formation Control of Nonholonomic Multi-agent Systems

Milad Khaledyan
PhD Candidate, Louisiana State University
Tuesday, May 8, 2018, 10 AM
ECE, Room 125E

Talk abstract: This talk is concerned with the formation control problem of multiple agents modeled as nonholonomic wheeled mobile robots. Both kinematic and dynamic robot models are considered. Solutions are presented for a class of formation problems that include formation, maneuvering, flocking, and target interception. Graph theory and nonlinear systems theory are the key tools used in the design and stability analysis of the proposed control schemes. Simulation and/or experimental results are presented to illustrate the performance of the controllers. In the first part, we present a leader-follower type solution to the formation maneuvering problem. The solution is based on the graph that models the coordination among the robots being a spanning tree. In the second part, we design a distance-based control scheme for the flocking and target interception of the nonholonomic agents under the assumption that only a subset of the agents know the desired flocking velocity or the target’s velocity and relative position. The control law is designed at the kinematic level and is based on the rigidity properties of the graph modeling the sensing/control interactions among the robots. The resulting controllers include distributed observers to estimate the unknown quantities. The theory of interconnected systems is used to analyze the stability of the observer-controller system.

Seminar PDF

2018-06-25T17:11:19+00:00 May 5th, 2018|Seminar|