Decentralized feedback stabilization of multiple nonholonomic agents

Author

Loizu, S.G. ; Dimarogonas, Dimos V. ; Kyriakopoulos, Kostas J.

Author_Institution

Control Syst. Lab., Athens Nat. Tech. Univ., Greece

Volume

3

fYear

2004

fDate

26 April-1 May 2004

Firstpage

3012

Abstract

This paper represents an extension of our previous work [D. Dimarogonas, et al. (2003), S. Loizou, et al. (2003)] on multiagent navigation to the case of decentralized control of multiple nonholonomic vehicles. Our main motivation comes from the field of air traffic management systems and from the field of micro robotic multiagent systems. A discontinuous feedback control scheme, based on dipolar navigation fields, is implemented and integrator backstepping is applied to suppress chattering behavior. The methodology has guaranteed global convergence and collision avoidance properties, which are verified by nontrivial computer simulations.

Keywords

collision avoidance; control nonlinearities; convergence; decentralised control; mobile robots; multi-agent systems; multi-robot systems; air traffic management systems; chattering suppression; collision avoidance; decentralized feedback stabilization; dipolar navigation fields; discontinuous feedback control; global convergence; integrator backstepping; microrobotic multiagent systems; multiagent navigation; multiple nonholonomic agents; Air traffic control; Backstepping; Convergence; Distributed control; Feedback control; Multiagent systems; Navigation; Robots; Traffic control; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307519

Filename

1307519