A consensus control strategy for unicycles in the presence of disturbances

In this paper, a distributed consensus control strategy for a team of unicycle agents subject to disturbance is presented. Disturbances on both the translational and angular velocities are considered. It is assumed that disturbance dynamics are known a priori while their initial conditions are unkno...

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Bibliographic Details
Published in2013 American Control Conference pp. 4039 - 4043
Main Authors Ajorlou, Amir, Asadi, Mohammad Mehdi, Aghdam, Amir G., Blouin, Stephane
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2013
Subjects
Angular velocity
Conferences
Control systems
Convergence
Multi-agent systems
Vectors
Vehicle dynamics
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ISBN1479901776
9781479901777
ISSN0743-1619
DOI10.1109/ACC.2013.6580458

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Summary:In this paper, a distributed consensus control strategy for a team of unicycle agents subject to disturbance is presented. Disturbances on both the translational and angular velocities are considered. It is assumed that disturbance dynamics are known a priori while their initial conditions are unknown. The norm and the angle of a typical control vector for the consensus of disturbance-free single-integrator agents is used to design the proposed controllers. The control input for each agent consists of two parts. One part which leads to consensus in disturbance-free case, and a second term which compensates for the disturbances. The simulation results confirm the efficacy of the proposed controllers.
ISBN:1479901776
9781479901777
ISSN:0743-1619
DOI:10.1109/ACC.2013.6580458