Output Feedback Consensus for Multiple Mobile Robots using Negative-Imaginary System Properties via Nonlinear State Feedback
Raghvendra Kaushik, Arnab Dey · 2024
This paper addresses the output consensus problem for networked mobile robots by using negative-imaginary (NI) systems theory. It is shown that there exists a nonlinear state feedback control law for each wheeled mobile robot (WMR) which results in satisfying the output strictly negative-imaginary (OSNI) property of the closed-loop system. Nonlinear NI controllers are placed in positive feedback with the rendered OSNI systems through a fixed network topology. It is shown that the nonlinear NI/OSNI properties are retained in the networked configuration and the output consensus result is proved. The proposed result is robust against NI uncertainties and is applicable to multi-robot systems without considering any linearization assumption. Simulation results are presented to validate the efficacy of the proposed control scheme.