Rendezvous of Nonholonomic Robots via Output-Feedback Control Under Time-Varying Delays

We address the problem of making nonholonomic vehicles, with second-order dynamics and interconnected over a bidirectional network, converge to formation centered at nonprespecified point on plane common orientation. assume that only Cartesian position center mass each vehicle its orientation are available for measurement, but not velocities. In addition, we interconnections affected by time-varying delays. Our control method consists in designing set systems robots’ through virtual springs transmit their own coordinates achieve consensus. This elastic couplings vehicles make latter consensus too. To best our knowledge, output-feedback underactuated has been little studied, all less presence