Rendezvous with connectivity preservation for multi-robot systems with an unknown leader

This paper studies the leader-following rendezvous problem with connectivity preservation for multi-agent systems composed of uncertain multi-robot systems subject to external disturbances and an unknown leader, both of which are generated by a so-called exosystem with parametric uncertainty. By com...

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Bibliographic Details
Published inInternational journal of control Vol. 91; no. 2; pp. 470 - 479
Main Author Dong, Yi
Format Journal Article
LanguageEnglish
Published Abingdon Taylor & Francis 01.02.2018
Taylor & Francis Ltd
Subjects
Adaptive control
Connectivity
connectivity preservation
Disturbances
internal model design
Multi-robot system
Multiagent systems
Multiple robots
Parameter uncertainty
Preservation
Rendezvous
Robots
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Summary:This paper studies the leader-following rendezvous problem with connectivity preservation for multi-agent systems composed of uncertain multi-robot systems subject to external disturbances and an unknown leader, both of which are generated by a so-called exosystem with parametric uncertainty. By combining internal model design, potential function technique and adaptive control, two distributed control strategies are proposed to maintain the connectivity of the communication network, to achieve the asymptotic tracking of all the followers to the output of the unknown leader system, as well as to reject unknown external disturbances. It is also worth to mention that the uncertain parameters in the multi-robot systems and exosystem are further allowed to belong to unknown and unbounded sets when applying the second fully distributed control law containing a dynamic gain inspired by high-gain adaptive control or self-tuning regulator.
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content type line 14
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2017.1285055