This paper proposes a consensus-based formation tracking scheme for multi-robot systems utilizing the Negative Imaginary (NI) theory. The proposed scheme applies to a class of networked robotic systems that can be modelled as a group of single integrator agents with stable uncertainties connected via an undirected graph. NI/SNI property of networked agents facilitates the design of a distributed Strictly Negative Imaginary (SNI) controller to achieve the desired formation tracking. A new theoretical proof of asymptotic convergence of the formation tracking trajectories is derived based on the integral controllability of a networked SNI systems. The proposed scheme is an alternative to the conventional Lyapunov-based formation tracking schemes. It offers robustness to NI/SNI-type model uncertainties and fault-tolerance to a sudden loss of robots due to hardware/communication fault. The feasibility and usefulness of the proposed formation tracking scheme were validated by lab-based real-time hardware experiments involving miniature mobile robots.


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    Title :

    Robust Formation Control for Networked Robotic Systems Using Negative Imaginary Dynamics


    Contributors:
    Hu, Junyan (author) / Lennox, Barry (author) / Arvin, Barry (author)

    Publication date :

    2022-05-01


    Remarks:

    Automatica , 140 , Article 110235. (2022)


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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