Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems
A consensus-based formation control for a class of networked multiple mobile 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...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2012-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2012/150250 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | A consensus-based formation control for a class of networked multiple mobile 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 system with 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. |
|---|---|
| ISSN: | 1687-5249 1687-5257 |