Time-Varying Formation Tracking for Second Order Multi-Agent Systems: An Experimental Approach for Wheeled Robots
In this paper, a time-varying formation tracking protocol for second-order multi-sgent systems (MASs) is presented. The time-varying formation considers translation, rotation, and scaling of the geometric pattern that defines the formation. The control law is simple yet effective, and it is composed...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/11/8/828 |
| _version_ | 1797584020698038272 |
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| author | Neftali J. Gonzalez-Yances America B. Morales-Diaz Héctor M. Becerra |
| author_facet | Neftali J. Gonzalez-Yances America B. Morales-Diaz Héctor M. Becerra |
| author_sort | Neftali J. Gonzalez-Yances |
| collection | DOAJ |
| description | In this paper, a time-varying formation tracking protocol for second-order multi-sgent systems (MASs) is presented. The time-varying formation considers translation, rotation, and scaling of the geometric pattern that defines the formation. The control law is simple yet effective, and it is composed of a trajectory tracking control and a consensus control that considers the position and velocity feedback of the connected agents in the MAS. The closed-loop system is asymptotically stable, and this was proved using the Gershgoring’s disk theorem. The performance of the protocol was extensively tested in experiments using a dynamic extension of the differential-drive robot model. The protocol was tested for different communication topologies and also dealt with switching topologies. The proposed protocol presented good performance regaring both time-varying formation and topology changes. Moreover, a comparison with an existing controller and with only trajectory tracking control has been provided, thus showing that the proposed protocol preserves the formation for all the tested topologies in a better way. |
| first_indexed | 2024-03-10T23:47:19Z |
| format | Article |
| id | doaj.art-37ebc83b36654cdfa20dd1f2a0a50fa5 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T23:47:19Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-37ebc83b36654cdfa20dd1f2a0a50fa52023-11-19T01:57:15ZengMDPI AGMachines2075-17022023-08-0111882810.3390/machines11080828Time-Varying Formation Tracking for Second Order Multi-Agent Systems: An Experimental Approach for Wheeled RobotsNeftali J. Gonzalez-Yances0America B. Morales-Diaz1Héctor M. Becerra2Centro de Investigación y Estudios Avanzados del Instituto Politécnico Nacional, Unidad Saltillo, Robótica y Manufacvtura Avanzada, Saltillo 25903, Coahuila de Zaragoza, MexicoCentro de Investigación y Estudios Avanzados del Instituto Politécnico Nacional, Unidad Saltillo, Robótica y Manufacvtura Avanzada, Saltillo 25903, Coahuila de Zaragoza, MexicoCentro de Investigación en Matemáticas (CIMAT), Guanajuato 36023, Guanajuato, MexicoIn this paper, a time-varying formation tracking protocol for second-order multi-sgent systems (MASs) is presented. The time-varying formation considers translation, rotation, and scaling of the geometric pattern that defines the formation. The control law is simple yet effective, and it is composed of a trajectory tracking control and a consensus control that considers the position and velocity feedback of the connected agents in the MAS. The closed-loop system is asymptotically stable, and this was proved using the Gershgoring’s disk theorem. The performance of the protocol was extensively tested in experiments using a dynamic extension of the differential-drive robot model. The protocol was tested for different communication topologies and also dealt with switching topologies. The proposed protocol presented good performance regaring both time-varying formation and topology changes. Moreover, a comparison with an existing controller and with only trajectory tracking control has been provided, thus showing that the proposed protocol preserves the formation for all the tested topologies in a better way.https://www.mdpi.com/2075-1702/11/8/828second-order systemsconsensusmulti-agent systemtime-varying formation |
| spellingShingle | Neftali J. Gonzalez-Yances America B. Morales-Diaz Héctor M. Becerra Time-Varying Formation Tracking for Second Order Multi-Agent Systems: An Experimental Approach for Wheeled Robots Machines second-order systems consensus multi-agent system time-varying formation |
| title | Time-Varying Formation Tracking for Second Order Multi-Agent Systems: An Experimental Approach for Wheeled Robots |
| title_full | Time-Varying Formation Tracking for Second Order Multi-Agent Systems: An Experimental Approach for Wheeled Robots |
| title_fullStr | Time-Varying Formation Tracking for Second Order Multi-Agent Systems: An Experimental Approach for Wheeled Robots |
| title_full_unstemmed | Time-Varying Formation Tracking for Second Order Multi-Agent Systems: An Experimental Approach for Wheeled Robots |
| title_short | Time-Varying Formation Tracking for Second Order Multi-Agent Systems: An Experimental Approach for Wheeled Robots |
| title_sort | time varying formation tracking for second order multi agent systems an experimental approach for wheeled robots |
| topic | second-order systems consensus multi-agent system time-varying formation |
| url | https://www.mdpi.com/2075-1702/11/8/828 |
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