Distributed network-based formation control

  • Authors:

  • Dongbing Gu;Huosheng Hu

  • Affiliations:

  • Department of Computing and Electronic Systems, University of Essex, Colchester, CO4 3SQ, UK;Department of Computing and Electronic Systems, University of Essex, Colchester, CO4 3SQ, UK

  • Venue:
  • International Journal of Systems Science
  • Year:
  • 2009

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Abstract

This article investigates a formation control problem of mobile robots. Two main issues of the formation control problem are addressed; one is the implementation of distributed formation control and another is the analysis of effect of network communication on the closed-loop systems. The distributed formation control is obtained by modelling the formation control problem as a linear-quadratic Nash differential game through the use of graph theory. The obtained distributed controller is a state feedback controller that requires both local state and neighbour robot states. As the neighbour robot states are obtained via networks, the network performance affects the control system. Network-induced delay is considered in this article. The stability analysis of the proposed distributed formation controller under network-induced delay is given. A compensation scheme for network-induced delay is proposed and analysed. Mobile robots with double integrator dynamics are used in the formation control simulation. Simulation results are provided to justify the models and solutions.