Consensus formation control for a class of networked multiple mobile robot systems

Authors:
Long Sheng;Ya-Jun Pan;Xiang Gong
Affiliations:
Department of Mechanical Engineering, Dalhousie University, Halifax, NS, Canada;Department of Mechanical Engineering, Dalhousie University, Halifax, NS, Canada;Department of Mechanical Engineering, Dalhousie University, Halifax, NS, Canada
Venue:
Journal of Control Science and Engineering - Special issue on Advances in Methods for Control over Networks
Year:
2012

Citing 2
Cited 1

A survey of linear matrix inequality techniques in stability analysis of delay systems

International Journal of Systems Science
Distributed receding horizon control for multi-vehicle formation stabilization

Automatica (Journal of IFAC)

Achieving relative time synchronization in wireless sensor networks

Journal of Control Science and Engineering

Quantified Score

Hi-index	0.00

Visualization

Abstract

A consensus-based formation control for a class of networkedmultiplemobile robots is investigated with a virtual leader approach. A novel distributed control algorithm is designed based on the Lyapunov method and linear matrix inequality (LMI) technique for time delay systems. A multiple Lyapunov Krasovskii functional candidate is proposed for investigating the sufficient conditions to linear control gain design for the systemwith constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.