4.6 Article

Multirobot System Formation Control With Multiple Performance and Feasibility Constraints

期刊

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2021.3117487

关键词

Robots; Multi-robot systems; Robot kinematics; Trajectory; Collision avoidance; Upper bound; Safety; Adaptive control; feasibility constraints; formation control; multirobot systems; performance constraints; universal barrier functions

资金

  1. Key-Area Research and Development Program of Guangdong Province [2020B1111010002]
  2. National Natural Science Foundation of China [61973129]
  3. Guangdong Basic and Applied Basic Research Foundation [2021A1515012004]

向作者/读者索取更多资源

This work introduces a novel framework for formation control in multirobot systems, addressing performance and feasibility constraints. The use of universal barrier functions in controller design ensures exponential convergence rate of distance tracking errors while satisfying all constraints. Demonstrated efficacy through simulation and experiments with AmigoBot mobile robots.
In this work, we propose a novel framework to address the formation control problem for a class of multirobot systems with two types of constraints, namely the performance constraints and the feasibility constraints. For the performance constraints, we consider the constraint requirements on the distance tracking errors between the real and the desired trajectories for each robot, so that to ensure precise tracking of the robot without deviating too much from its desired trajectory, as well as the constraints on the interrobot distance, so that to ensure the safe operation of the team. For the feasibility constraints, we consider the constraints on the heading angle, so that the controllers designed in the brief are feasible. Universal barrier functions are adopted in the controller design and analysis, which is a generic framework that can address systems with different types of constraints in a unified controller architecture. Through rigorous analysis, exponential convergence rate can be guaranteed on the distance tracking errors, while all constraints are satisfied during the operation. A simulation example and an experiment using three AmigoBot mobile robots further demonstrate the efficacy of the proposed control framework.

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