Robust formation control for networked robotic systems using Negative Imaginary dynamics

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.(C) 2022 Elsevier Ltd. All rights reserved.

Automated summary

This paper proposes a consensus-based formation tracking scheme for multi-robot systems utilizing the Negative Imaginary (NI) theory. The proposed scheme applies to networked robotic systems that consist of single integrator agents with stable uncertainties connected via an undirected graph. It offers robustness to model uncertainties and fault-tolerance to a sudden loss of robots.