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.
|Number of pages||8|
|Journal||IEEE Transactions on Control Systems Technology|
|State||Published - Jul 1 2022|
Bibliographical noteFunding Information:
The work of Shi-Lu Dai and Jianjun Liang was supported in part by the Key-Area Research and Development Program of Guangdong Province under Grant 2020B1111010002, in part by the National Natural Science Foundation of China under Grant 61973129, and in part by Guangdong Basic and Applied Basic Research Foundation under Grant 2021A1515012004.
© 1993-2012 IEEE.
- Adaptive control
- feasibility constraints
- formation control
- multirobot systems
- performance constraints
- universal barrier functions
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering