Distributed output feedback stationary consensus of multi-vehicle systems in unknown environments

Abstract

In the traditional distributed consensus of multi-vehicle systems, vehicles agree on velocity and position using limited information exchange in their local neighborhoods. Recently, distributed leaderless stationary consensus has been proposed in which vehicles agree on a position and come to a stop. The proposed stationary consensus schemes are based on all vehicles’ access to their own absolute velocity measurements, and they do not guarantee this collective behavior in the presence of disturbances that persistently excite vehicles’ dynamics. On the other hand, traditional distributed disturbance rejection leaderless consensus algorithms may result in an uncontrolled increase in the speed of multi-vehicle system. In this paper, we propose a dynamic relative-output feedback leaderless stationary algorithm in which only a few vehicles have access to their absolute measurements. We systematically design the distributed algorithm by transforming this problem into a static feedback robust control design challenge for the low-order modified model of vehicles with fictitious modeling uncertainties. We further propose dynamic leader-follower stationary consensus algorithms for multi-vehicle systems with a static leader, and find closed-form solutions for the consensus gains based on design matrices and communication graph topology. Finally, we verify the feasibility of these ideas through simulation studies.