Global Leaderless Consensus Control for Nonholonomic Mobile Robots: a General Theory for Gains Selection
Xiaodong He, Zhiyong Geng · 2019
This paper studies the problem of consensus control for two nonholonomic mobile robots, which are connected by an undirected edge. The kinematics of the robot is modelled on Lie group SE(2), which describes the motion of planar rigid body globally. The control law is designed based on the stabilization of the relative system, as well as a symmetry requirement for the controller, which is of significance for leaderless consensus. The proposed consensus control law is globally asymptotically stable and without the need of a leader. Moreover, we clarify the physical meaning of the control gains, and explain how to select gains to obtain excellent robot behaviour. Finally, simulations with comparative studies are provided to verify the consensus controller and the gain selection theory.