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...
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2012/150250 |
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| _version_ | 1832560992515522560 |
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| author | Long Sheng Ya-Jun Pan Xiang Gong |
| author_facet | Long Sheng Ya-Jun Pan Xiang Gong |
| author_sort | Long Sheng |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-04309f203bcf465aa959b22f21786f4b |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-04309f203bcf465aa959b22f21786f4b2025-02-03T01:26:12ZengWileyJournal of Control Science and Engineering1687-52491687-52572012-01-01201210.1155/2012/150250150250Consensus Formation Control for a Class of Networked Multiple Mobile Robot SystemsLong Sheng0Ya-Jun Pan1Xiang Gong2Department of Mechanical Engineering, Dalhousie University, Halifax, NS, B3J 2X4, CanadaDepartment of Mechanical Engineering, Dalhousie University, Halifax, NS, B3J 2X4, CanadaDepartment of Mechanical Engineering, Dalhousie University, Halifax, NS, B3J 2X4, CanadaA 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.http://dx.doi.org/10.1155/2012/150250 |
| spellingShingle | Long Sheng Ya-Jun Pan Xiang Gong Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems Journal of Control Science and Engineering |
| title | Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems |
| title_full | Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems |
| title_fullStr | Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems |
| title_full_unstemmed | Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems |
| title_short | Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems |
| title_sort | consensus formation control for a class of networked multiple mobile robot systems |
| url | http://dx.doi.org/10.1155/2012/150250 |
| work_keys_str_mv | AT longsheng consensusformationcontrolforaclassofnetworkedmultiplemobilerobotsystems AT yajunpan consensusformationcontrolforaclassofnetworkedmultiplemobilerobotsystems AT xianggong consensusformationcontrolforaclassofnetworkedmultiplemobilerobotsystems |