Hu, Junyan;
Lennox, Barry;
Arvin, Barry;
(2022)
Robust Formation Control for Networked Robotic Systems Using Negative Imaginary Dynamics.
Automatica
, 140
, Article 110235. 10.1016/j.automatica.2022.110235.
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Abstract
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.
| Type: | Article |
|---|---|
| Title: | Robust Formation Control for Networked Robotic Systems Using Negative Imaginary Dynamics |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.automatica.2022.110235 |
| Publisher version: | https://doi.org/10.1016/j.automatica.2022.110235 |
| Language: | English |
| Additional information: | © 2022 Published by Elsevier Ltd. This is an open access article under the CC BY 4.0 license Attribution 4.0 International (https://creativecommons.org/licenses/by/4.0/) |
| Keywords: | Multi-robot systemsSwarm roboticsNegative Imaginary systemsFault-tolerant controlRobustness |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10144980 |
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