Robust formation control for networked robotic systems using Negative Imaginary dynamics

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