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Fixed-Time Rigidity-Based Formation Maneuvering for Nonholonomic Multirobot Systems With Prescribed Performance.

Ke Lu, Shi-Lu Dai, Xu Jin

IEEE Transactions on Cybernetics

|April 4, 2023

Summary

This study introduces a novel control strategy for nonholonomic mobile robots, ensuring stable formations and collision avoidance even with limited sensing. The method guarantees fixed-time convergence for robot formations.

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Area of Science:

Robotics
Control Systems
Multi-Agent Systems

Background:

Coordinated control of nonholonomic mobile robots is challenging due to sensing limitations and the need for robust formation maintenance.
Existing methods often struggle with transient performance, collision avoidance, and controller singularity under dynamic conditions.

Purpose of the Study:

To develop a rigidity-based formation maneuvering strategy for nonholonomic mobile robots with limited sensing.
To ensure collision avoidance, connectivity maintenance, and fixed-time convergence of formation errors.

Main Methods:

Incorporation of time-varying and asymmetric performance bounds to constrain distance and angle errors.
Utilization of universal barrier Lyapunov functions for fixed-time stability of angle errors and convergence of distance errors.
Design of a control protocol that addresses controller singularity issues.

Main Results:

Demonstrated fixed-time stability for angle errors and convergence to a small neighborhood around zero for distance errors.
Successful tracking of desired time-varying velocities by all robots.
Generation and maintenance of predefined formations defined by rigid graphs.

Conclusions:

The proposed control protocol effectively manages formation maneuvering for nonholonomic robots under limited sensing.
The strategy ensures robust performance, including collision avoidance and connectivity, with guaranteed fixed-time convergence.
Simulation and experimental results validate the effectiveness of the developed control approach.