Decentralized partial-consensus control of nonholonomic vehicles over networks with interconnection delays
Mohamed Adlene Maghenem, Antonio Lorı́a, Emmanuel Nuño, Elena V. Panteley · 2020
We present a partial-consensus controller for a network of nonholonomic mobile robots in the presence of time-varying communication delays. The control problem that we address is that of having a group of vehicles converging to a relatively common non-specified Cartesian position value, but each having an imposed desired orientation. The vehicles are assumed to communicate over a network with a connected, undirected graph topology. The proposed decentralized control law is smooth time-varying, of the δ-Persistently-Exciting class [1]. We establish uniform global asymptotic stability for the closed-loop system.